WO2023245702A1 - 用于辅助植入电极丝的系统和用于引导电极丝的方法 - Google Patents

用于辅助植入电极丝的系统和用于引导电极丝的方法 Download PDF

Info

Publication number
WO2023245702A1
WO2023245702A1 PCT/CN2022/102192 CN2022102192W WO2023245702A1 WO 2023245702 A1 WO2023245702 A1 WO 2023245702A1 CN 2022102192 W CN2022102192 W CN 2022102192W WO 2023245702 A1 WO2023245702 A1 WO 2023245702A1
Authority
WO
WIPO (PCT)
Prior art keywords
electrode wire
camera
guide needle
light source
hole
Prior art date
Application number
PCT/CN2022/102192
Other languages
English (en)
French (fr)
Inventor
赵郑拓
李雪
包宇
Original Assignee
中国科学院脑科学与智能技术卓越创新中心
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院脑科学与智能技术卓越创新中心 filed Critical 中国科学院脑科学与智能技术卓越创新中心
Publication of WO2023245702A1 publication Critical patent/WO2023245702A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/3605—Implantable neurostimulators for stimulating central or peripheral nerve system
    • A61N1/3606—Implantable neurostimulators for stimulating central or peripheral nerve system adapted for a particular treatment
    • A61N1/36064—Epilepsy
    • 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
    • A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
    • A61B5/291—Bioelectric electrodes therefor specially adapted for particular uses for electroencephalography [EEG]
    • A61B5/293—Invasive
    • 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
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/369—Electroencephalography [EEG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
    • A61N1/0526—Head electrodes
    • A61N1/0529—Electrodes for brain stimulation
    • A61N1/0539—Anchoring of brain electrode systems, e.g. within burr hole
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras

Definitions

  • the present disclosure relates to systems for assisting implantation of wire electrodes and methods for guiding wire electrodes.
  • Invasive brain-computer interfaces implant electrodes that can measure and release electrical signals into the brain, and decode neural signals through the detected electrical signals.
  • the implanted electrodes can also be used to release signals to regulate the brain and thus the entire organism. life activities.
  • the decoding of electrical signals collected by electrodes can be used to control prostheses to help disabled people recover limb functions; the release of electrical signals from electrodes can be used to control neurological diseases such as epilepsy.
  • the width and thickness of the flexible electrode are often constructed to have very small dimensions, for example, nanoscale or micron-scale width and thickness; at the same time, in order to facilitate the establishment of the implanted target and the For electrical connections between circuits, the electrode wire may have a length several orders of magnitude larger than its width and thickness, such as a length on the order of centimeters. Therefore, the flexible electrodes involved in the present disclosure may be configured in a strip shape or a filament shape. Therefore, the flexible electrodes involved in the present disclosure are also called electrode wires.
  • One of the objects of the present disclosure is to provide a system for assisting implantation of an electrode wire and a method for guiding the electrode wire.
  • a system for assisting implantation of an electrode wire including: an electrode wire fixing device for fixing the electrode wire, the electrode wire is provided with a through hole configured therein at its end. a generally planar metal portion of the hole, which is at least partially suspended from the electrode wire fixing device; a guide pin fixing device for fixing a metal guide pin, the guide pin having a structure configured to cooperate with the through hole the end portion; a movement mechanism configured to drive the guide needle fixing device to move to move the guide needle from the first side of the plane where the metal part is located to the second side of the plane in order to engage with the metal part, and
  • the driving electrode wire fixing device and/or the guide needle fixing device moves substantially parallel to the plane;
  • a first camera is arranged on a first side of the plane and faces the metal part, and the first camera has a first optical path ; a second camera arranged on a first side of the plane and facing the metal part, the second camera having a second optical path at an angle to the first optical path; and
  • a method for guiding an electrode wire including: performing the following operations in an environment reaching a predetermined brightness: observing a portion of the electrode wire for engaging the guide needle from different angles through two cameras
  • the joint part and the end of the guide pin wherein the joint part of the electrode wire is provided with a through hole for the end of the guide pin to penetrate and the electrode wire is arranged so that at least a portion of the joint part near the through hole is suspended, wherein,
  • the joint portion of the electrode wire and the end of the guide pin are both configured to have a light transmittance of less than 50%; and a processing device identifies a relative position of the end of the guide pin and the through hole based on images acquired from two cameras.
  • the predetermined brightness in the environment is provided by: a light source dedicated to the environment; and/or the environment is located Lighting equipment in the room.
  • FIG. 1 is a schematic diagram of a system for assisting implantation of electrode wires according to an embodiment of the present disclosure.
  • FIG. 2A is a schematic three-dimensional view of an electrode wire suitable for embodiments of the present disclosure.
  • Figure 2B is a highly simplified plan view of a wire electrode suitable for embodiments of the present disclosure.
  • 3A and 3B are schematic diagrams of the engagement of the guide needle and the electrode wire in an embodiment of the present disclosure.
  • 4A to 4C are schematic diagrams showing the arrangement of guide needles and electrode wires in embodiments of the present disclosure.
  • 5A and 5B are schematic diagrams showing the arrangement of guide needles and electrode wires in embodiments of the present disclosure.
  • FIG. 6A is a schematic diagram of the plane displacement required for a guide pin to be aligned with a through hole in an embodiment of the present disclosure.
  • 6B and 6C are schematic diagrams showing the arrangement of cameras in the embodiment of the present disclosure.
  • FIG. 7A and 7B are schematic diagrams showing images respectively captured by two cameras in the system shown in FIG. 1 .
  • 8A and 8B are schematic diagrams showing the arrangement of cameras in the embodiment of the present disclosure.
  • an element is referred to as being “on,” “attached to,” “connected to,” “coupled to” or “contacting” another element.
  • the element can be directly on, attached to, connected to, coupled to, or contacting another element, or intervening elements may be present.
  • one element is said to be “directly on”, “directly attached to”, “directly connected to”, “directly coupled to” another element or, or “directly coupled” to another element.
  • a feature being arranged “adjacent” to another feature may mean that one feature has a portion that overlaps the adjacent feature or a portion that is above or below the adjacent feature.
  • Coupled means that one element/node/feature can be directly or indirectly mechanically, electrically, logically, or otherwise connected to another element/node/feature to permit mutual interaction. effect, even though the two characteristics may not be directly connected. That is, “coupled” is intended to encompass both direct and indirect connections of elements or other features, including connections via one or more intervening elements.
  • spatial relationship terms such as “up”, “down”, “left”, “right”, “front”, “back”, “high”, “low”, etc. can explain the relationship between one feature and another feature. Relationships in the attached figure. It will be understood that the spatially relative terms encompass different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the figures is turned over, features described as “below” other features would now be described as “above” other features. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the relative spatial relationships will be interpreted accordingly.
  • a or B includes “A and B” as well as “A or B” and does not exclusively include only “A” or only “B” unless specifically stated otherwise.
  • exemplary means “serving as an example, instance, or illustration” rather than as a “model” that will be accurately reproduced. Any implementation illustratively described herein is not necessarily to be construed as preferred or advantageous over other implementations. Furthermore, the disclosure is not bound by any expressed or implied theory presented in the above technical field, background, brief summary or detailed description.
  • the term “substantially” is meant to include any minor variations resulting from design or manufacturing defects, device or component tolerances, environmental effects, and/or other factors.
  • the term “substantially” also allows for differences from the perfect or ideal situation due to parasitics, noise, and other practical considerations that may be present in actual implementations.
  • first,” “second,” and similar terms may also be used herein for reference purposes only and are therefore not intended to be limiting.
  • the words “first,” “second,” and other such numerical terms referring to structures or elements do not imply a sequence or order unless clearly indicated by the context.
  • FIG. 2A is a three-dimensional schematic diagram of an electrode wire suitable for embodiments of the present disclosure
  • FIG. 2B is a highly simplified plan view of a wire electrode suitable for embodiments of the present disclosure.
  • the electrode wire 1 includes a front end that can be implanted into a target object (eg, biological tissue) and a rear end (not shown) for connecting a circuit.
  • the insulating layer 15 extends between its front and rear ends to mainly provide the mechanical strength of the electrode wire 1 .
  • the electrode wire 1 includes an engaging portion 11 for engaging the guide needle 2 at its front end.
  • a through hole through which the end of the guide needle 2 can penetrate is opened in the joint portion 11 so that the electrode wire 1 and the guide needle 2 can be joined.
  • the front end of the electrode wire 1 can collect electrical signals from the target, for example, through each electrode site 13 , and transmit the collected electrical signals to the circuit connected to the rear end of the electrode wire 1 through the wires 14 in the electrode wire 1 .
  • the rear end of the electrode wire 1 can receive electrical signals from the circuit to which it is connected, and apply the received electrical signals to the implanted target through the wires 14 and electrode sites 13 in the electrode wire 1 .
  • the electrode wire 1 may be adhered to the substrate 16 when it is manufactured.
  • the substrate 16 may include a polymer film.
  • FIGS. 3A and 3B are schematic diagrams of the engagement of the guide needle 2 and the electrode wire 1 in the embodiment of the present disclosure.
  • the guide needle 2 has an end configured to cooperate with (eg be able to penetrate through) the through-hole in the joint part 11 .
  • the guide needle 2 includes a first portion 21 with an outer diameter smaller than the inner diameter of the through hole of the engaging portion 11 and a second portion 22 with an outer diameter greater than the inner diameter of the through hole of the engaging portion 11 .
  • the second part 22 of the guide needle 2 shown in FIGS. 3A and 3B may only be partial, that is, only the section of the second part 22 close to the first part 21 may be shown.
  • the second portion 22 may also include a longer section extending upward.
  • FIGS. 3A and 3B show an example in which the guide needle 2 and the electrode wire 1 are joined. Since the first part 21 is smaller than the inner diameter of the joint part 11 and the second part 22 is larger than the inner diameter of the joint part 11 , as shown in FIG. 3B , the first part 21 of the guide needle 2 can pass through the through hole of the joint part 11 while the second part 22 is larger than the inner diameter of the joint part 11 . 22 cannot pass through the through hole of the joint 11.
  • the guide needle 2 continues to move downward (in the direction shown in the figure), so that the joint part 11 of the electrode wire 1 is stopped between the first part 21 and the second part 22, so that the guide needle 2 can be coupled with the electrode wire 1 through the coupling portion 11.
  • the guide needle 2 can guide the position of the electrode wire 1, that is, guide the electrode wire 1 from the first position to the second position.
  • the guidance is performed in the up-down direction, the left-right direction, and/or the direction perpendicular to the paper surface.
  • the guide needle 2 guides the electrode wire 1 to implant the electrode wire 1 into the target object.
  • the guide needle 2 After the guide needle 2 is engaged with the electrode wire 1, the guide needle can continue to move downward (in the direction shown in the figure) until at least part of the first part 21 and the second part 22 of the guide needle 2 enter the target object. , thereby implanting at least part of the joint portion 11 of the electrode wire 1 and the section 12 close to the joint portion 11 into the target object.
  • the size of the electrode wire 1 is extremely small, and as mentioned above, its width is often configured to have dimensions of, for example, nanoscale or micron scale, it is therefore difficult to guide the first portion 21 of the needle 2 through the through hole of the joint 11 of.
  • the system includes an electrode wire fixing device for fixing the electrode wire, a guide pin fixing device for fixing the guide pin, a movement mechanism for driving the movement of the electrode wire fixation device and/or the guide pin fixation device, and a mechanism for observing the guide needle and the electrode.
  • the electrode wire fixing device 3 can be configured as a support plate.
  • the electrode wire 1 can be adhered to the base plate 16 , so the electrode wire 1 can be fixed on the electrode wire fixing device 3 via the base plate 16 .
  • the electrode wire 1 can be adhered to the first surface of the substrate 16, and the second surface of the substrate 16 opposite to the first surface can be adhered to the electrode wire fixing device 3, as shown in Figure 4A As shown in Figure 4C.
  • the joint part 11 of the electrode wire 1 needs to be arranged so that at least the part near the through hole is suspended, that is, it is not blocked from top to bottom, for example, it cannot be blocked by the base plate 16, the electrode wire fixing device 3, etc. Occlusion.
  • the “upper” and “lower” mentioned here refer to the opposite sides of the plane on which the joint part 11 extends. From the perspective shown in FIG. 2A , they are the upper and lower sides of the plane on which the joint part 11 extends. For example, in the example of FIG. 2A , the joint 11 is suspended from the substrate 16 . In the example of FIGS.
  • the joint portion 11 is suspended from the base plate 16 and the electrode wire fixing device 3 .
  • the guide needle fixing device 23 can move downward driven by the motion mechanism, thereby driving the guide needle 2 to move downward, so that the first part 21 passes through the through hole to guide the needle. 2 is joined to electrode wire 1.
  • the electrode wire 1 is usually produced in batches. Multiple electrode wires 1 manufactured in batches can be adhered side by side on the base plate 16 , and the base plate 16 can be fixed on the electrode wire fixing device 3 , so that multiple electrode wires 1 can be fixed side by side on the electrode wire fixing device 3 , as shown in Figure 5A.
  • a plurality of electrode wires may be arranged side by side with the through holes in the joint portions 11-1 to 11-5 of each electrode wire substantially aligned.
  • the first part 21 (also called the end 21) of the guide needle 2 can be aligned with the through holes in the joint portions 11-1 to 11-5 of each electrode wire 1 in order to be connected to each electrode wire 1 in sequence, as shown in the perspective view. 5A and plan view 5B.
  • the joint portions 11 and 11 of the electrode wire 1 for engaging the guide needle 2 are respectively observed from different angles through two cameras, such as camera A and camera B.
  • the end 21 of the needle 2 is guided and images within the respective fields of view are taken.
  • the processing device identifies the relative position of the end 21 of the guide pin 2 and the through hole in the joint part 11 based on the images acquired from the two cameras, and the movement mechanism drives the electrode wire fixing device and/or the guide pin fixing device to move, so as to The electrode wire 1 and/or the guide needle 2 are driven to move, so that the end 21 of the guide needle 2 is aligned with the through hole in the joint part 11 .
  • the "image" mentioned in this disclosure includes pictures and videos.
  • the environment reaches a predetermined brightness
  • the joint 11 of the electrode wire 1 and the guide pin 2 need to be The light transmittance of the end portion 21 is small.
  • the “environment” here refers to the environment in which the joint portion 11 and the end portion 21 are observed.
  • the joint part 11 is arranged in a suspended manner, so that there is only air within a certain range around the joint part 11 and no other obstructions.
  • the end 21 of the guide needle 2 passes through the through hole of the joint part 11, it is also suspended, that is, there is only air and no other obstructions within a certain range around the end 21. Therefore, when the brightness is sufficient, as long as the light transmittance of the joint portion 11 and the end portion 21 can be significantly different from that of air, they can be clearly observed in the camera.
  • the joint portion 11 of the electrode wire 1 and the end portion 21 of the guide needle 2 are both configured to have a light transmittance of less than 50%.
  • the joint portion 11 of the electrode wire 1 and the end portion 21 of the guide needle 2 both include metal.
  • the joint portion 11 may be configured as a substantially planar metal portion in which a through hole is provided.
  • the guide pin 2 can be designed as a metal guide pin. Since metal has low light transmittance, the joint portion 11 and the end portion 21 formed of metal are used to facilitate clear observation in the camera.
  • the difference in light transmittance between the joint portion 11 of the electrode wire 1 and the end portion 21 of the guide pin 2 is less than 15%.
  • Methods to achieve a predetermined brightness in the environment may include setting the system at a location where the brightness meets the required brightness, using a light source, etc. Since systems and methods according to embodiments of the present disclosure may not limit light sources of specific colors/wavelengths, the predetermined brightness in the environment may be provided by a light source dedicated to the environment in the system, or may be provided by the original light source in the room where the system is located. Some lighting equipment (such as indoor lighting) is provided.
  • the system shown in Figure 1 includes light sources specific to the environment in the system. The light source may be configured to provide visible light, to provide infrared light, to provide only white light, or to provide both white and blue light.
  • the light source may be configured such that the light it provides illuminates the joint portion 11 of the electrode wire 1 after being diffusely reflected, or the light it provides directly irradiates the joint portion 11 of the electrode wire 1 .
  • the light source includes a first light source providing white light and a second light source providing blue light.
  • the first light source may be a light source disposed coaxially with the lens of at least one of the two cameras (the lens of camera A or the lens of camera B), which may be integrated inside the lens. When used, the lens is observed There will be a white light spot illuminated by the light source.
  • the second light source may be a ring light source set outside the lens of at least one camera (the lens of camera A or the lens of camera B).
  • FIGS. 7A and 7B Examples of images of the joint portion 11 and the end portion 21 observed in a camera are shown in FIGS. 7A and 7B . It can be seen that when the ambient brightness and the light transmittance of the object to be observed both meet the requirements, the joint part 11 and the end part 21 can be clearly observed in the camera. Furthermore, in order to have fewer distractors in the image observed by the camera, it is preferable to use a camera with a smaller depth of field. In some embodiments, Camera A and Camera B are configured to have a depth of field of less than 1 mm. Since the objects to be observed, that is, the joint portion 11 of the electrode wire 1 and the end portion 21 of the guide pin 2 are both small in size, it is preferable to use a camera with a smaller field of view.
  • the motion mechanism in the system according to the embodiment of the present disclosure can drive the movement of the electrode wire fixing device 3 and/or the guide needle fixing device 23 .
  • the plane in which the joint portion 11 roughly extends is defined as the xoy plane, and the direction perpendicular to the xoy plane is defined as the z-axis direction.
  • the xoy plane may be a plane in which the joint portions 11 - 1 to 11 - 5 generally extend together, for example, it may be a plane in which the substrate 16 extends.
  • the movement mechanism can drive the guide needle fixing device 23 to move to move the guide needle 2 along the z-axis direction from the first side of the xoy plane (for example, the upper side in the perspective shown in FIG. 5A ) to the second side of the xoy plane (for example, in the perspective of FIG.
  • segmented reference numerals are used in this article, such as the joint portion 11-1. When used in this way, it is meant that each of the joints 11-1 to 11-5 can be distinguished. When there is no need to distinguish each of the joints 11 - 1 to 11 - 5 , only the first half of the segmented reference numeral may be used to refer to them collectively, that is, these are collectively referred to as the joints 11 .
  • the motion mechanism can also drive the electrode wire fixing device 3 and/or the guide needle fixing device 23 to move substantially parallel to the xoy plane, for example, to move substantially parallel to the xoy plane along the first and second directions that are perpendicular to each other.
  • the movement mechanism drives either one of the electrode wire fixing device 3 and the guide pin fixing device 23 to move, which can cause the joint portion 11 of the electrode wire 1 and the end 21 of the guide pin 2 to move relative to each other, so that the end 21 Align the joint 11. Since in the operation of aligning the end portion 21 with the joint portion 11, only the relative movement between the end portion 21 and the joint portion 11 along the xoy plane is required, that is, no movement along the z-axis direction is required. Therefore, in Fig. 5B The plan view shows a plurality of joint portions 11-1 to 11-5 and an end portion 21.
  • the initial position of the relative movement is shown as a dot (corresponding to the end 21 in the plan view of FIG. 5B ), and the destination position of the relative movement is shown as a ring (in the plan view of FIG. 5B ).
  • the plan view of FIG. 5B corresponds to the joint portion 11), and reference may be made to FIG. 6A. Therefore, in the description herein, the description is based on controlling the guide needle fixing device 23 to move substantially parallel to the xoy plane, thereby driving the end 21 of the guide needle 2 to move.
  • controlling the movement of the electrode wire fixing device 3 substantially parallel to the xoy plane, thereby driving the movement of the joint portion 11 of the electrode wire can also be performed similarly.
  • FIG. 6A if it is necessary to control the end 21 to move along the xoy plane from the origin o to the destination position (x1, y1), the movement distance x1 along the x-axis direction and the movement distance y1 along the y-axis direction can be controlled respectively.
  • the x-axis direction and the y-axis direction only need to be two directions perpendicular to each other on the xoy plane, that is, the motion mechanism driving the electrode wire fixing device 3 and/or the guide pin fixing device 23 described above is basically The first and second directions of motion are parallel to the xoy plane.
  • camera A and camera B may be arranged such that their respective optical paths, ie, the optical paths PA and PB, are perpendicular to each other, and the optical path PA of camera A is perpendicular to the x-axis direction and that of camera B
  • the optical path PB is perpendicular to the y-axis direction.
  • the dotted lines in the figure schematically represent the field of view of the corresponding camera. It can be seen that cameras A and B are placed such that camera A can directly observe the relative position along the x-axis between the through hole of the joint part 11 and the end 21, and camera B can directly observe the relative position along the y-axis.
  • the processing device only needs to compare the pixel position difference between the through hole of the joint part 11 and the end 21 of the guide pin 2 in the image A captured by the camera A, and can determine the end 21 should move along the x-axis direction accordingly.
  • the distance is The distance of movement y1. Therefore, the processing device can determine the control signal to the motion mechanism according to the determined distances x1 and y1, thereby controlling the motion mechanism to drive the guide needle fixing device 23 to drive the end 21 to move the distance x1 along the x-axis and the distance y1 along the y-axis, thereby reaching The target position is to align with the through hole of the joint part 11 .
  • FIG. 6B shows the arrangement positions of camera A and camera B from a plan view
  • FIG. 6C shows it from a perspective view.
  • cameras A and B are not arranged on the xoy plane, but are both arranged on the first side of the xoy plane (that is, where the end 21 is before it moves along the z-axis to pass through the through hole. side) and toward the joint 11.
  • Camera A faces the joint part 11 at a first angle with the xoy plane
  • camera B faces the joint part 11 at a second angle with the xoy plane.
  • first angle and the second angle may be different. In some embodiments, at least one of the first angle and the second angle is less than 90 degrees. Preferably, at least one of the first angle and the second angle is between 20 degrees and 80 degrees. In this way, both the through hole of the joint part 11 and the end 21 of the guide needle 2 can be observed clearly at the same time, as shown in FIGS. 7A and 7B .
  • the processing of the images from camera A and camera B by the processing device includes: performing black-and-white binarization processing on the image A captured by camera A and the image B captured by camera B, and performing contour segmentation.
  • a recognition algorithm is used to detect the characteristic area where the joint 11 is located and the characteristic area where the end 21 of the guide needle 2 is located. Compare the pixel position difference between the through hole in the joint part 11 and the end 21 of the guide pin 2 in images A and B, and determine the control signal to the motion mechanism based on the pixel position difference, thereby controlling the motion mechanism to drive the electrode wire fixing device 3 and/or guide the needle fixation device 23 to move.
  • the motion mechanism is controlled to drive the guide
  • the needle fixing device 23 moves along the z-axis to move the guide needle 2 from the first side to the second side of the xoy plane, so that the end 21 of the guide needle 2 passes through the through hole to engage with the joint 11 .
  • the optical paths PA and PB of camera A and camera B are perpendicular to each other and perpendicular to the x-axis direction and the y-axis direction respectively.
  • the optical paths PA and PB of camera A and camera B are perpendicular to each other, but neither optical path is perpendicular to the x-axis direction or the y-axis direction.
  • the field of view plane of camera A is a plane ox' extending in a direction perpendicular to the paper surface, which is not parallel to the xoz plane, so the through hole and end of the joint part 11 cannot be directly observed through camera A.
  • the field of view plane of camera B is the plane oy' extending in the direction perpendicular to the paper surface, which is not parallel to the yoz plane. Therefore, the space between the through hole and the end 21 of the joint part 11 cannot be directly observed through the camera B.
  • the distances x1 and y1 can be determined based on the images observed by cameras A and B through known methods such as calibration methods, which will not be described again here.
  • the optical paths PA and PB of camera A and camera B are perpendicular to each other.
  • the optical paths PA and PB of camera A and camera B only need to be at an angle to each other (that is, not parallel) to achieve the purpose of the invention.
  • the optical paths PA and PB of camera A and camera B are not perpendicular, and neither optical path is perpendicular to the x-axis direction or the y-axis direction.
  • the field of view plane of camera A is a plane ox' extending in a direction perpendicular to the paper surface, which is not parallel to the xoz plane, so the through hole and end of the joint part 11 cannot be directly observed through camera A. 21 along the x-axis, but instead observe the projection of ox1 on ox'.
  • the field of view plane of camera B is the plane oy' extending in the direction perpendicular to the paper surface, which is not parallel to the yoz plane. Therefore, the space between the through hole and the end 21 of the joint part 11 cannot be directly observed through the camera B.
  • the relative position along the y-axis, but the projection of oy1 on oy' is observed.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Neurosurgery (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Psychology (AREA)
  • Neurology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Cardiology (AREA)
  • Psychiatry (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Surgical Instruments (AREA)

Abstract

本公开涉及用于辅助植入电极丝的系统，包括：电极丝固定装置；引导针固定装置；运动机构；第一相机，被布置在所述平面的第一侧并朝向所述金属部，所述第一相机具有第一光路；第二相机，被布置在所述平面的第一侧并朝向所述金属部，所述第二相机具有与第一光路呈角度的第二光路；以及处理装置，被配置为基于第一相机和第二相机所拍摄的图像识别引导针的端部与所述通孔的相对位置，并控制运动机构驱动电极丝固定装置和/或引导针固定装置运动，以使得引导针的端部对准所述通孔。本公开还涉及用于引导电极丝的方法。

Description

用于辅助植入电极丝的系统和用于引导电极丝的方法 技术领域
本公开涉及用于辅助植入电极丝的系统和用于引导电极丝的方法。
背景技术
侵入式脑机接口是将能测定电信号和释放电信号的电极植入到脑中，通过检测到的电信号解码神经信号；也可通过植入的电极释放信号，调控大脑进而调控整个生物体的生命活动。电极收集的电信号解码可应用于假肢控制，帮助残障人士肢体功能恢复；电极电信号释放可应用于神经性疾病如癫痫的调控等。
在侵入式脑机接口的应用中，电极的植入是一个很困难的问题。为了减少电极在生物体内的排异反应以及减少植入损伤，柔性电极被开发出来。但柔性电极因为自身的“柔性”特点，使得它的植入更为困难。
为了减小对植入目标物组织的损伤，柔性电极的宽度和厚度常被构造为具有很小的尺寸，例如，纳米级或微米级的宽度和厚度；同时，为了便于建立植入目标物与电路之间的电连接，电极丝可以具有比其宽度和厚度大若干数量级的长度，例如厘米级的长度。因此，本公开所涉及的柔性电极可以被构造为条带状或细丝状。因此，本公开所涉及的柔性电极也被称为电极丝。
发明内容
本公开的目的之一是提供用于辅助植入电极丝的系统和用于引导电极丝的方法。
根据本公开的第一方面，提供了一种用于辅助植入电极丝的系统，包括：电极丝固定装置，用于固定电极丝，所述电极丝在其端部设置有在其中构造有通孔的大致平面状的金属部，所述金属部至少部分地悬空于电极丝固定装置；引导针固定装置，用于固定金属引导针，所述引导针具有被构造为与所述通孔相配合的端部；运动机构，被配置为驱动引导针固定装置运动以使引导针从所述金属部所在的平面的第一侧向所述平面的第二侧运动以便接合到所述金属部，以及驱动电极丝固定装置和/或引导针固定装置基本平行于所述平面运动；第一相机，被布置在所述平面的第一侧并朝向所述金属部，所述第一相机具有第一光路；第二相机，被布置在所述平面的第一侧并朝向所述金属部，所述第二相机具有与第一光路呈角度的第二光路；以及处理装置， 被配置为基于第一相机和第二相机所拍摄的图像识别引导针的端部与所述通孔的相对位置，并控制运动机构驱动电极丝固定装置和/或引导针固定装置运动，以使得引导针的端部对准所述通孔。
根据本公开的第二方面，提供了一种用于引导电极丝的方法，包括：在达到预定亮度的环境中进行如下操作：通过两个相机从不同角度观察电极丝的用于接合引导针的接合部和引导针的端部，其中，电极丝的接合部中开设有能供引导针的端部穿入的通孔并且电极丝被布置为接合部的至少通孔附近的部分悬空，其中，电极丝的接合部和引导针的端部均被构造为具有小于50％的透光率；以及通过处理装置基于从两个相机获取的图像识别引导针的端部与所述通孔的相对位置，并控制电极丝和/或引导针运动，以使得引导针的端部对准所述通孔，其中，环境中的预定亮度由以下提供：专用于环境的光源；和/或环境所处的房间内的照明设备。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
构成说明书的一部分的附图描述了本公开的实施例，并且连同说明书一起用于解释本公开的原理。
图1是根据本公开实施例的用于辅助植入电极丝的系统的示意图。
图2A是适用于本公开实施例的电极丝的立体示意图。
图2B是适用于本公开实施例的电极丝的高度简化的平面示意图。
图3A和图3B是在本公开实施例中引导针与电极丝接合的示意图。
图4A至图4C是示出了在本公开实施例中引导针与电极丝的布置的示意图。
图5A和图5B是示出了在本公开实施例中引导针与电极丝的布置的示意图。
图6A是在本公开实施例中引导针要对准通孔所需的平面位移的示意图。
图6B和图6C是示出了在本公开实施例中相机的布置的示意图。
图7A和图7B是示出了图1所示的系统中两个相机分别拍摄到的图像的示意图。
图8A和图8B是示出了在本公开实施例中相机的布置的示意图。
注意，在以下说明的实施方式中，有时在不同的附图之间共同使用同一附图标记来表示相同部分或具有相同功能的部分，而省略其重复说明。在一些情况中，使用相似的标号和字母表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附 图中不需要对其进行进一步讨论。
为了便于理解，在附图等中所示的各结构的位置、尺寸及范围等有时不表示实际的位置、尺寸及范围等。因此，本公开并不限于附图等所公开的位置、尺寸及范围等。
具体实施方式
以下将参照附图描述本公开，其中的附图示出了本公开的若干实施例。然而应当理解的是，本公开可以以多种不同的方式呈现出来，并不局限于下文描述的实施例；事实上，下文描述的实施例旨在使本公开的公开更为完整，并向本领域技术人员充分说明本公开的保护范围。还应当理解的是，本文公开的实施例能够以各种方式进行组合，从而提供更多额外的实施例。
应当理解的是，本文中的用语仅用于描述特定的实施例，并不旨在限定本公开的范围。本文使用的所有术语(包括技术术语和科学术语)除非另外定义，均具有本领域技术人员通常理解的含义。为简明和/或清楚起见，公知的功能或结构可以不再详细说明。
在本文中，称一个元件位于另一元件“上”、“附接”至另一元件、“连接”至另一元件、“耦合”至另一元件、或“接触”另一元件等时，该元件可以直接位于另一元件上、附接至另一元件、连接至另一元件、联接至另一元件或接触另一元件，或者可以存在中间元件。相对照的是，称一个元件“直接”位于另一元件“上”、“直接附接”至另一元件、“直接连接”至另一元件、“直接耦合”至另一元件或、或“直接接触”另一元件时，将不存在中间元件。在本文中，一个特征布置成与另一特征“相邻”，可以指一个特征具有与相邻特征重叠的部分或者位于相邻特征上方或下方的部分。
在本文中，可能提及了被“耦接”在一起的元件或节点或特征。除非另外明确说明，“耦接”意指一个元件/节点/特征可以与另一元件/节点/特征以直接的或间接的方式在机械上、电学上、逻辑上或以其它方式连结以允许相互作用，即使这两个特征可能并没有直接连接也是如此。也就是说，“耦接”意图包含元件或其它特征的直接连结和间接连结，包括利用一个或多个中间元件的连接。
在本文中，诸如“上”、“下”、“左”、“右”、“前”、“后”、“高”、“低”等的空间关系用语可以说明一个特征与另一特征在附图中的关系。应当理解的是，空间关系用语除了包含附图所示的方位之外，还包含装置在使用或操作中的不同 方位。例如，在附图中的装置倒转时，原先描述为在其它特征“下方”的特征，此时可以描述为在其它特征的“上方”。装置还可以以其它方式定向(旋转90度或在其它方位)，此时将相应地解释相对空间关系。
在本文中，用语“A或B”包括“A和B”以及“A或B”，而不是排他地仅包括“A”或者仅包括“B”，除非另有特别说明。
在本文中，用语“示例性的”意指“用作示例、实例或说明”，而不是作为将被精确复制的“模型”。在此示例性描述的任意实现方式并不一定要被解释为比其它实现方式优选的或有利的。而且，本公开不受在上述技术领域、背景技术、发明内容或具体实施方式中所给出的任何所表述的或所暗示的理论所限定。
在本文中，用语“基本上”意指包含由设计或制造的缺陷、器件或元件的容差、环境影响和/或其它因素所致的任意微小的变化。用语“基本上”还允许由寄生效应、噪声以及可能存在于实际的实现方式中的其它实际考虑因素所致的与完美的或理想的情形之间的差异。
另外，仅仅为了参考的目的，还可以在本文中使用“第一”、“第二”等类似术语，并且因而并非意图限定。例如，除非上下文明确指出，否则涉及结构或元件的词语“第一”、“第二”和其它此类数字词语并没有暗示顺序或次序。
还应理解，“包括/包含”一词在本文中使用时，说明存在所指出的特征、步骤、操作、单元和/或组件，但是并不排除存在或增加一个或多个其它特征、步骤、操作、单元和/或组件以及/或者它们的组合。
本公开实施例提供了用于辅助植入电极丝的系统和用于引导电极丝的方法。图2A是适用于本公开实施例的电极丝的立体示意图，图2B是适用于本公开实施例的电极丝的高度简化的平面示意图。电极丝1包括可以被植入到目标物(例如生物组织)的前端和用于连接电路的后端(未示出)。绝缘层15在其前端和后端之间延伸以主要地提供电极丝1的机械强度。电极丝1在其前端包括用于接合引导针2的接合部11。在图示的示例中，接合部11中开设有能供引导针2的端部穿入的通孔，以便电极丝1与引导针2相接合。电极丝1的前端可以从目标物采集电信号，例如通过各电极位点13，并通过电极丝1中的导线14将所采集的电信号传输到电极丝1的后端所连接的电路。此外，电极丝1的后端可以从其所连接的电路接收电信号，并通过电极丝1中的导线14和电极位点13将所接收的电信号施加到所植入的目标物。需要说明的是，为简便起见，图2A和图2B中仅示出了电极丝1的靠近接合部11的区段12。为保护 电极丝1以及便于使用，电极丝1在制成时可以是粘附在基板16上的。在一些实施例中，基板16可以包括高分子薄膜。
图3A和图3B是在本公开实施例中引导针2与电极丝1接合的示意图。引导针2具有被构造为与接合部11中的通孔相配合(例如能够穿入通孔)的端部。在图3A和图3B所示的示例中，引导针2包括外径小于接合部11的通孔的内径的第一部分21和外径大于接合部11的通孔的内径的第二部分22。为简便起见，图3A和图3B中示出的引导针2的第二部分22可以仅是局部的，即可以仅示出了第二部分22靠近第一部分21的区段，在实际实施中，第二部分22还可以包括向上延伸的更长的区段。图3A和图3B示出了引导针2和电极丝1相接合的一个示例。由于第一部分21小于接合部11的内径而第二部分22大于接合部11的内径，因此，如图3B所示，引导针2的第一部分21可以穿过接合部11的通孔而第二部分22无法穿过接合部11的通孔。在第一部分21穿过接合部11之后，引导针2继续向下(以图中所示的方向而言)运动，可使得电极丝1的接合部11被止挡在第一部分21和第二部分22之间，从而使得引导针2可以通过接合部11与电极丝1相接合。在引导针2与电极丝1相接合之后，引导针2可以对电极丝1的位置进行引导，即将电极丝1从第一位置引导到第二位置。例如，以图中所示的方向而言，沿上下方向、左右方向、和/或垂直于纸面的方向进行引导。在一个示例中，引导针2引导电极丝1以将电极丝1植入目标物。在引导针2与电极丝1相接合之后，引导针可以继续向下(以图中所示的方向而言)运动，直到引导针2的第一部分21和第二部分22的至少部分进入目标物，从而将电极丝1的接合部11和靠近接合部11的区段12的至少部分植入目标物。
在上述过程中，需要使得引导针2的第一部分21穿过接合部11的通孔。由于电极丝1的尺寸极小，如前文所述，其宽度常被构造为具有例如纳米级或微米级的尺寸，因此，使得引导针2的第一部分21穿过接合部11的通孔是困难的。
图1是根据本公开实施例的用于辅助植入电极丝的系统的示意图。系统包括用于固定电极丝的电极丝固定装置、用于固定引导针的引导针固定装置、用于驱动电极丝固定装置和/或引导针固定装置运动的运动机构、用于观察引导针和电极丝的接合的相机A和相机B、以及用于控制运动机构的处理装置(未示出)。
图4A至图4C示出了电极丝1在电极丝固定装置3上的布置。电极丝固定装置3可以被构造为支撑板。如前文所述，电极丝1可以粘附在基板16上，因此电极丝1可以经由基板16而固定在电极丝固定装置3上。例如，如图2A所示，电极丝1可以 粘附在基板16的第一表面上，而基板16的与第一表面相对的第二表面可以粘附在电极丝固定装置3上，如图4A至图4C所示。为了便于引导针2与电极丝1的接合，电极丝1的接合部11需要被布置为至少通孔附近的部分悬空，即其上下不被遮挡，例如不能被基板16、电极丝固定装置3等遮挡。这里所说的“上”“下”，指的是接合部11延伸的平面的相对两侧，以图2A所示的视角来看，是接合部11延伸的平面的上方和下方。例如，在图2A的示例中，接合部11悬空于基板16。在图4A至图4C的示例中，接合部11悬空于基板16和电极丝固定装置3。在对准了接合部11中的通孔之后，引导针固定装置23在运动机构的驱动下可以向下运动，从而带动引导针2向下运动，使得第一部分21穿过通孔，以便引导针2接合到电极丝1。
在实际实施时，电极丝1通常批量地被制造。成批制造的多个电极丝1可以并排地被粘附在基板16上，基板16可以固定在电极丝固定装置3上，从而使得多个电极丝1被并排地固定在电极丝固定装置3上，如图5A所示。在这种情况下，多个电极丝可以被布置为并排排列，并使得各电极丝的接合部11-1至11-5中的通孔基本对齐。引导针2的第一部分21(也称为端部21)可以依次对准各电极丝1的接合部11-1至11-5中的通孔，以便依次接合到各电极丝1，分别如立体图5A和平面图5B所示。
在根据本公开实施例的用于辅助植入电极丝的系统中，通过两个相机，例如相机A和相机B，分别从不同角度观察电极丝1的用于接合引导针2的接合部11和引导针2的端部21，并拍摄各自视野内的图像。通过处理装置基于从两个相机获取的图像来识别引导针2的端部21与接合部11中的通孔的相对位置，并运动机构驱动电极丝固定装置和/或引导针固定装置运动，以带动电极丝1和/或引导针2运动，以使得引导针2的端部21对准接合部11中的通孔。应当理解，本公开所说的“图像”包括图片和视频。
为了使得在相机中能够清晰地观察到电极丝1的接合部11和引导针2的端部21，需要满足两个条件：环境达到预定亮度、以及电极丝1的接合部11和引导针2的端部21的透光率均较小。需要说明的是，这里的“环境”指的是接合部11和端部21被观察的环境。如上所述，接合部11悬空地被布置，这使得接合部11的周围的一定范围内只有空气，没有其他的遮挡物。而引导针2的端部21在穿过接合部11的通孔之前，其也是悬空的，即端部21的周围的一定范围内也只有空气，也没有其他的遮挡物。因此，在亮度足够的情况下，只要接合部11和端部21的透光率能够明显区别于空气，就能够在相机中被清晰地观察到。
在一些实施例中，电极丝1的接合部11和引导针2的端部21均被构造为具有小于50％的透光率。在较佳的实施例中，电极丝1的接合部11和引导针2的端部21均包括金属。例如，接合部11可以被构造为在其中设置有通孔的大致平面状的金属部。引导针2可以被构造为金属引导针。由于金属具有较小的透光率，因此，采用金属形成的接合部11和端部21，便于在相机中清晰地观察到。此外，由于在每个相机中需要同时观察电极丝1的接合部11和引导针2的端部21两者，因此，这两者的透光率的差别不能过大，以免需要不同的亮度和/或相机参数才能观察清楚两者。因此，在一些实施例中，电极丝1的接合部11和引导针2的端部21的透光率之差小于15％。
使环境达到预定亮度的方法可以包括，将系统设置在亮度满足要求的位置、以及使用光源等。由于根据本公开实施例的系统和方法可以不限定特定颜色/波长的光源，因此，环境中的预定亮度可以由专用于该系统中该环境的光源提供，也可以由该系统所处的房间内原有的照明设备(例如室内照明灯)提供。图1所示的系统中包括专用于该系统中该环境的光源。该光源可以被配置为提供可见光、提供红外光、只提供白光、或同时提供白光和蓝光。该光源可以被配置为使得其提供的光经过漫反射后照射在电极丝1的接合部11上，也可以使得其提供的光直射在电极丝1的接合部11上。在光源被配置为同时提供白光和蓝光的实施例中，光源包括提供白光的第一光源和提供蓝光的第二光源。第一光源可以为与两个相机中至少一个相机的镜头(相机A的镜头或相机B的镜头)同轴地设置的光源，其可以是集成在镜头内部的，当使用时，镜头观察之处会有该光源照射的白光光斑。第二光源可以为套设在至少一个相机的镜头(相机A的镜头或相机B的镜头)外的环形光源。
在相机中观察接合部11和端部21的图像的实例如图7A和图7B所示。可见，在环境亮度和被观察物的透光率均满足要求的情况下，可以在相机中清晰的观察到接合部11和端部21。此外，为了使得相机观察到的图像中的干扰物更少，优选地使用景深较小的相机。在一些实施例中，相机A和相机B被配置为具有小于1毫米的景深。由于被观察的物体，即电极丝1的接合部11和引导针2的端部21的尺寸都很小，因此优选地使用视野范围较小的相机。
根据本公开实施例的系统中的运动机构可以驱动电极丝固定装置3和/或引导针固定装置23运动。为便于描述，在本公开中，如图5A所示，将接合部11大致延伸的平面定义为xoy平面，与xoy平面垂直的方向定义为z轴方向。需要说明的是，当包括多个电极丝1时，每个电极丝1的接合部11-1至11-5延伸的平面可能不完全重 合(因为电极丝1的柔性特点、以及制造误差等)，此时xoy平面可以是各个接合部11-1至11-5大致共同延伸的平面，例如可以是基板16延伸的平面。运动机构可以驱动引导针固定装置23运动以使引导针2沿z轴方向xoy平面的第一侧(例如以图5A所示的视角为上侧)向xoy平面的第二侧(例如以图5A所示的视角为下侧)运动以便接合到接合部11。需要说明的是，在本文中使用了分段式附图标记，例如接合部11-1。当如此使用时，是指可以区分接合部11-1至11-5中的各个接合部。当不需要区分接合部11-1至11-5中的各个接合部时，可以只使用分段式附图标记的前半部分来共同地指代，即将这些统称为接合部11。
此外，运动机构还可以驱动电极丝固定装置3和/或引导针固定装置23基本平行于xoy平面运动，例如基本平行于xoy平面地沿互相垂直的第一方向和第二方向运动。运动机构驱动电极丝固定装置3和引导针固定装置23中的任一者运动，即可使得电极丝1的接合部11和引导针2的端部21之间相对地运动，从而使得端部21对准接合部11。由于在使得端部21对准接合部11的操作中，只需要端部21和接合部11之间相对地沿xoy平面的运动，即不需要沿z轴方向的运动，因此在图5B中以平面图的视角示出了多个接合部11-1至11-5和端部21。
本公开附图中为便于描述，将相对运动的初始位置示出为一个圆点(在图5B的平面图中对应于端部21)、而将相对运动的目的位置示出为一个圆环(在图5B的平面图中对应于接合部11)，可参考图6A。因此，在本文的说明书中，以控制引导针固定装置23基本平行于xoy平面运动、从而带动引导针2的端部21运动为准进行描述。本领域技术人员应理解，控制电极丝固定装置3基本平行于xoy平面运动、从而带动电极丝的接合部11运动也可以类似地进行。如图6A所示，如果需要控制端部21从原点o沿xoy平面运动到目的位置(x1,y1)，则可以分别控制其沿x轴方向运动距离x1、以及沿y轴方向运动距离y1。需要说明的是，虽然图5B示出的x轴方向为电极丝的长度延伸的方向、y轴方向为多个电极丝并排排列的方向，本领域技术人员应理解，这仅是为了方便示出而做的假定。在实际实施中，x轴方向和y轴方向只需要是xoy平面上相互垂直的两个方向即可，即上文所述的运动机构驱动电极丝固定装置3和/或引导针固定装置23基本平行于xoy平面运动的第一方向和第二方向。
在一些实施例中，如图6B和6C所示，相机A和相机B可以被布置为使得各自的光路，即光路PA与PB互相垂直，并且相机A的光路PA垂直于x轴方向以及相机B的光路PB垂直于y轴方向。图中虚线示意性地表示相应的相机的视野。可以看出， 如此放置相机A和B，使得相机A可以直接观察到接合部11的通孔和端部21之间沿x轴的相对位置，相机B可以直接观察到沿y轴的相对位置。如此，处理装置只需要比较相机A拍摄的图像A中接合部11的通孔与引导针2的端部21之间的像素位置差，即可据此确定端部21应沿x轴方向运动的距离x1；相应地，只需要比较相机B拍摄的图像B中接合部11的通孔与引导针2的端部21之间的像素位置差，即可据此确定端部21应沿y轴方向运动的距离y1。从而处理装置可以根据确定的距离x1和y1确定对运动机构的控制信号，从而控制运动机构驱动引导针固定装置23以带动端部21沿x轴运动距离x1并且沿y轴运动距离y1，从而到达目的位置，即对准接合部11的通孔。
图6B是以平面图的视角示出相机A和相机B的布置位置，图6C以立体图的视角示出。可以看出，相机A和B并不是被布置在xoy平面上的，而是均被布置在xoy平面的第一侧(即端部21在沿z轴运动以穿过通孔之前端部21所在的一侧)并朝向接合部11。相机A与xoy平面呈第一角度地朝向接合部11，相机B与xoy平面呈第二角度地朝向接合部11。本领域技术人员应理解，虽然图1或图6C的实施例中示出的第一角度和第二角度基本相等，但在其他实施例中，第一角度和第二角度可以不同。在一些实施例中，第一角度和第二角度中的至少一个小于90度。较佳地，第一角度和第二角度中的至少一个介于20度至80度之间。如此，可以较清晰地同时观察接合部11的通孔和引导针2的端部21两者，如图7A和图7B所示。
处理装置对相机A和相机B的图像的处理包括：对相机A所拍摄的图像A和相机B所拍摄的图像B进行黑白二值化处理，并进行轮廓分割。用识别算法检测接合部11所在的特征区域和引导针2的端部21所在的特征区域。比较图像A、B中接合部11中的通孔与引导针2的端部21之间的像素位置差，并根据像素位置差确定对运动机构的控制信号，从而控制运动机构驱动电极丝固定装置3和/或引导针固定装置23运动。响应于图像A、B中接合部11中的通孔与引导针2的端部21之间的像素位置差小于预定值，即可认为端部21已对准通孔，则控制运动机构驱动引导针固定装置23沿z轴运动，以使引导针2从xoy平面的第一侧向第二侧运动，以便使引导针2的端部21穿过通孔从而接合到接合部11。
在图6B和6C所示的实施例中，相机A和相机B的光路PA与PB互相垂直、并且分别垂直于x轴方向和y轴方向。在图8A所示的实施例中，相机A和相机B的光路PA与PB互相垂直，但任一光路均不与x轴方向或y轴方向垂直。在该实施例中，相 机A的视野平面为ox’沿垂直于纸面的方向延伸的平面，其不与xoz平面平行，因此通过相机A并不能直接观察到接合部11的通孔和端部21之间沿x轴的相对位置，而是观察到ox1在ox’上的投影。相应地，相机B的视野平面为oy’沿垂直于纸面的方向延伸的平面，其不与yoz平面平行，因此通过相机B并不能直接观察到接合部11的通孔和端部21之间沿y轴的相对位置，而是观察到oy1在oy’上的投影。本领域技术人员应理解，可以通过标定法等已知的方式，根据相机A和B观察的图像来确定距离x1和y1，此处不再赘述。
在图6B和6C所示的实施例中，相机A和相机B的光路PA与PB互相垂直。本领域技术人员应理解，相机A和相机B的光路PA与PB之间只需要互相呈角度(即不平行)，即可实现发明目的。在图8B所示的实施例中，相机A和相机B的光路PA与PB不垂直，并且任一光路均不与x轴方向或y轴方向垂直。在该实施例中，相机A的视野平面为ox’沿垂直于纸面的方向延伸的平面，其不与xoz平面平行，因此通过相机A并不能直接观察到接合部11的通孔和端部21之间沿x轴的相对位置，而是观察到ox1在ox’上的投影。相应地，相机B的视野平面为oy’沿垂直于纸面的方向延伸的平面，其不与yoz平面平行，因此通过相机B并不能直接观察到接合部11的通孔和端部21之间沿y轴的相对位置，而是观察到oy1在oy’上的投影。本领域技术人员应理解，可以通过标定法等已知的方式，根据相机A和B观察的图像来确定距离x1和y1，此处不再赘述。
虽然已经通过示例对本公开的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本公开的范围。在此公开的各实施例可以任意组合，而不脱离本公开的精神和范围。本领域的技术人员还应理解，可以对实施例进行多种修改而不脱离本公开的范围和精神。本公开的范围由所附权利要求来限定。

Claims (30)

  1. 一种用于辅助植入电极丝的系统，包括：
    电极丝固定装置，用于固定电极丝，所述电极丝在其端部设置有在其中构造有通孔的大致平面状的金属部，所述金属部至少部分地悬空于电极丝固定装置；
    引导针固定装置，用于固定金属引导针，所述引导针具有被构造为与所述通孔相配合的端部；
    运动机构，被配置为驱动引导针固定装置运动以使引导针从所述金属部所在的平面的第一侧向所述平面的第二侧运动以便接合到所述金属部，以及驱动电极丝固定装置和/或引导针固定装置基本平行于所述平面运动；
    第一相机，被布置在所述平面的第一侧并朝向所述金属部，所述第一相机具有第一光路；
    第二相机，被布置在所述平面的第一侧并朝向所述金属部，所述第二相机具有与第一光路呈角度的第二光路；以及
    处理装置，被配置为基于第一相机和第二相机所拍摄的图像识别引导针的端部与所述通孔的相对位置，并控制运动机构驱动电极丝固定装置和/或引导针固定装置运动，以使得引导针的端部对准所述通孔。
  2. 根据权利要求1所述的系统，其中，第一相机和第二相机被布置为使得第二光路与第一光路垂直。
  3. 根据权利要求1所述的系统，其中，
    运动机构还被配置为驱动电极丝固定装置和/或引导针固定装置基本平行于所述平面地沿互相垂直的第一方向和第二方向运动，
    第一相机还被布置为使得第一光路垂直于第二方向，
    第二相机还被布置为使得第二光路垂直于第一方向。
  4. 根据权利要求1所述的系统，其中，第一相机和第二相机被配置为具有小于1毫米的景深。
  5. 根据权利要求1所述的系统，还包括被配置为提供白光的光源。
  6. 根据权利要求1所述的系统，还包括被配置为提供白光的光源和提供蓝光的光源。
  7. 根据权利要求6所述的系统，其中，
    提供白光的光源被配置为与第一相机的镜头或第二相机的镜头同轴设置的光源，
    提供蓝光的光源被配置为套设在第一相机的镜头或第二相机的镜头外的环形光源。
  8. 根据权利要求1所述的系统，还包括被配置为提供可见光的光源。
  9. 根据权利要求1所述的系统，还包括被配置为提供红外光的光源。
  10. 根据权利要求5至9中任一项所述的系统，其中，光源被配置为使得发出的光经过漫反射后照射在所述金属部上和/或直射在所述金属部上。
  11. 根据权利要求1所述的系统，其中，
    第一相机与所述平面呈第一角度地朝向所述金属部，
    第二相机与所述平面呈第二角度地朝向所述金属部，
    其中，第一角度和第二角度中的至少一个小于90度。
  12. 根据权利要求11所述的系统，其中，第一角度和第二角度中的至少一个介于20度至80度之间。
  13. 根据权利要求1所述的系统，其中，电极丝粘附在基板上并且基板固定在电极丝固定装置上，所述金属部至少部分地悬空于基板。
  14. 根据权利要求1所述的系统，其中，多个电极丝并排粘附在基板上并且基板固定在电极丝固定装置上，处理装置还被配置为使得引导针的端部依次对准各电极丝的金属部中的通孔。
  15. 根据权利要求13或14所述的系统，其中，所述基板包括高分子薄膜。
  16. 根据权利要求14所述的系统，其中，
    运动机构还被配置为驱动电极丝固定装置和/或引导针固定装置基本平行于所述平面地沿互相垂直的第一方向和第二方向运动，
    多个电极丝沿第一方向并排排列，并使得各电极丝的金属部中的通孔基本对齐。
  17. 根据权利要求16所述的系统，其中，
    第一相机还被布置为使得第一光路垂直于第二方向，
    第二相机还被布置为使得第二光路垂直于第一方向。
  18. 根据权利要求1所述的系统，其中，处理装置还被配置为：
    对第一相机和第二相机所拍摄的图像进行黑白二值化处理，并进行轮廓分割；
    用识别算法检测所述金属部的特征区域和引导针的端部的特征区域；以及
    比较图像中所述金属部中的通孔与引导针的端部之间的像素位置差，并根据像素位置差确定对运动机构的控制信号，从而控制运动机构驱动电极丝固定装置和/或引导针固定装置运动。
  19. 根据权利要求18所述的系统，其中，处理装置还被配置为：
    响应于图像中所述金属部中的通孔与引导针的端部之间的像素位置差小于预定值，控制运动机构驱动引导针固定装置运动以使引导针从所述平面的第一侧向第二侧运动，以便使引导针的端部穿过所述通孔从而接合到所述金属部。
  20. 一种用于引导电极丝的方法，包括：
    在达到预定亮度的环境中进行如下操作：
    通过两个相机从不同角度观察电极丝的用于接合引导针的接合部和引导针的端部，其中，电极丝的接合部中开设有能供引导针的端部穿入的通孔并且电极丝被布置为接合部的至少通孔附近的部分悬空，其中，电极丝的接合部和引导针的端部均被构造为具有小于50％的透光率；以及
    通过处理装置基于从两个相机获取的图像识别引导针的端部与所述通孔的相对位置，并控制电极丝和/或引导针运动，以使得引导针的端部对准所述通孔，
    其中，环境中的预定亮度由以下提供：
    专用于环境的光源；和/或
    环境所处的房间内的照明设备。
  21. 根据权利要求20所述的方法，其中，专用于环境的光源提供白光。
  22. 根据权利要求20所述的方法，其中，专用于环境的光源提供白光和蓝光。
  23. 根据权利要求20所述的方法，其中，专用于环境的光源提供可见光。
  24. 根据权利要求20所述的方法，其中，专用于环境的光源提供红外光。
  25. 根据权利要求20所述的方法，其中，光源发出的光经过漫反射后照射在电极丝的接合部上和/或直射在电极丝的接合部上。
  26. 根据权利要求20所述的方法，其中，电极丝的接合部和引导针的端部的透光率之差小于15％。
  27. 根据权利要求20所述的方法，其中，电极丝的接合部和引导针的端部均包括金属。
  28. 根据权利要求20所述的方法，其中，两个相机均具有小于1毫米的景深。
  29. 根据权利要求20所述的方法，其中，两个相机被布置为光路互相垂直。
  30. 根据权利要求20所述的方法，还包括：
    控制其端部对准所述通孔的电极丝运动，以使引导针的端部穿过所述通孔从而接合到结合部以便引导电极丝。
PCT/CN2022/102192 2022-06-20 2022-06-29 用于辅助植入电极丝的系统和用于引导电极丝的方法 WO2023245702A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210717912.5 2022-06-20
CN202210717912.5A CN115154897A (zh) 2022-06-20 2022-06-20 用于辅助植入电极丝的系统和用于引导电极丝的方法

Publications (1)

Publication Number Publication Date
WO2023245702A1 true WO2023245702A1 (zh) 2023-12-28

Family

ID=83487712

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/102192 WO2023245702A1 (zh) 2022-06-20 2022-06-29 用于辅助植入电极丝的系统和用于引导电极丝的方法

Country Status (2)

Country Link
CN (1) CN115154897A (zh)
WO (1) WO2023245702A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116898541B (zh) * 2023-06-30 2024-03-01 中国科学院自动化研究所 柔性丝状电极植入装置
CN117481764B (zh) * 2023-12-28 2024-04-19 北京智冉医疗科技有限公司 柔性电极辅助植入装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2767306A2 (de) * 2013-02-14 2014-08-20 Marc Prof. Dr. Possover Chirurgisches Applikationswerkzeug, Elektrodendraht und System zur Implantation eines solchen Elektrodendrahts
CN109200470A (zh) * 2018-11-07 2019-01-15 清华大学 一种用于电极植入式医疗器械的定位架及其制造方法
CN112370064A (zh) * 2020-10-28 2021-02-19 上海交通大学 夹持模具、利用超声振动辅助电极植入装置及植入方法
CN112999511A (zh) * 2021-03-10 2021-06-22 中国科学院半导体研究所 柔性电极导入装置
CN113041496A (zh) * 2021-03-19 2021-06-29 国家纳米科学中心 一种神经电刺激电极、其制备方法和植入方法
CN114376580A (zh) * 2022-01-04 2022-04-22 中国科学院上海微系统与信息技术研究所 一种柔性神经电极及其制备方法、脑机接口

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2767306A2 (de) * 2013-02-14 2014-08-20 Marc Prof. Dr. Possover Chirurgisches Applikationswerkzeug, Elektrodendraht und System zur Implantation eines solchen Elektrodendrahts
CN109200470A (zh) * 2018-11-07 2019-01-15 清华大学 一种用于电极植入式医疗器械的定位架及其制造方法
CN112370064A (zh) * 2020-10-28 2021-02-19 上海交通大学 夹持模具、利用超声振动辅助电极植入装置及植入方法
CN112999511A (zh) * 2021-03-10 2021-06-22 中国科学院半导体研究所 柔性电极导入装置
CN113041496A (zh) * 2021-03-19 2021-06-29 国家纳米科学中心 一种神经电刺激电极、其制备方法和植入方法
CN114376580A (zh) * 2022-01-04 2022-04-22 中国科学院上海微系统与信息技术研究所 一种柔性神经电极及其制备方法、脑机接口

Also Published As

Publication number Publication date
CN115154897A (zh) 2022-10-11

Similar Documents

Publication Publication Date Title
WO2023245702A1 (zh) 用于辅助植入电极丝的系统和用于引导电极丝的方法
JP4122187B2 (ja) 照明装置、及びこれを備えた認識装置並びに部品実装装置
CN108366833B (zh) 手术信息处理设备和方法
KR101575833B1 (ko) 전자 부품 및/또는 캐리어를 배출 장치에 대하여 위치 결정하기 위한 장치 및 방법
JP2019188137A (ja) ボアベースの医療システムにおいて患者を監視するためのカメラ監視システム及びカメラ監視システムを較正する方法
JP4838095B2 (ja) 半導体チップの実装装置及び実装方法
US20050051521A1 (en) Solder ball bonding method and bonding device
US20170167702A1 (en) Optical alignment system
US11357596B2 (en) Medical holding arm for incorporation into a surgical navigation system
US10390689B2 (en) Angled endoscope tip image capture unit
US20160147055A1 (en) Led ring light and manufacture method of led ring light and image measuring device and optical device using led ring light
WO2009118938A1 (ja) 内視鏡システム、内視鏡手術訓練システム
KR20130076991A (ko) 의료용 로봇 시스템 및 그 제어 방법
US11653826B2 (en) Medical observation system, control method, and program in which illumination light is controlled in accordance with a usage state of an image sensor
US20200197122A1 (en) Medical observation device, processing method, and medical observation system
KR20210130698A (ko) 컴퓨터 비전 기술들
JP4983591B2 (ja) 光学的検査方法および光学的検査装置
US11482950B2 (en) Light responsive polymer magnetic microrobots
DE112004002813T5 (de) Prüfgerät für Bildsensoren
CN109164552B (zh) 一种镜片与屏幕的对齐方法及设备
JPWO2020188761A1 (ja) カメラモジュール製造装置及びカメラモジュール製造方法
JP4765008B2 (ja) 瞳孔と鼻孔を用いた頭部の方向を検出する方法
US11260531B2 (en) End effector calibration assemblies, systems, and methods
JP6876139B2 (ja) コレットコントラストディスク
CN113015474A (zh) 用于核实场景特征的系统、方法和计算机程序

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22947465

Country of ref document: EP

Kind code of ref document: A1