A neuromuscular electrophysiological examination robot

Abstract

The application discloses a nerve and muscle electromyography examination robot, which comprises a recording robot, an execution robot, a navigation robot and a control system. The recording robot comprises a supporting table, a base, a loose recording belt and a first positioning device. The first positioning device can position a nerve part to be stimulated and a muscle part to be punctured. The execution robot is provided with a multi-axis mechanical arm. The multi-axis mechanical arm is connected with a clamping device and a second positioning device. The clamping device can clamp a stimulator or a needle electrode. The navigation robot can identify the positions of the first positioning device and the second positioning device and send information to the control system. The control system can control the movement of the multi-axis mechanical arm and drive the clamping device to move to the nerve part to be stimulated and the muscle part to be punctured positioned by the first positioning device, so that the stimulator or the needle electrode can stimulate or puncture the part to be stimulated. The device can improve the detection efficiency in the process of nerve and muscle electromyography examination.

Description

Technical Field

[0001] This invention relates to the field of medical assistive device technology, specifically to a neuromuscular electrophysiological examination robot. Background Technology

[0002] Neurophysiological testing involves stimulating nerves with electrical impulses while recording the signals using recording electrodes placed on the skin. It is primarily a method for examining the function of the peripheral nervous system. Specifically, recording electrodes are placed on the muscles innervated by the nerve being tested, and the electrophysiological responses of the muscles are recorded by stimulating the nerve at different locations in the limb. This allows for assessment of both the condition of the nerves and the speed of nerve conduction, thus helping clinicians determine the patient's condition.

[0003] Muscle electrophysiology involves inserting needle electrodes into specific muscles to study their electrical activity and thus assess the patient's condition.

[0004] During neurophysiological and muscle electrophysiological examinations, doctors need to examine each peripheral nerve and limb muscle of the patient one by one according to the patient's condition. Currently, these examinations are all performed manually by doctors, which is inefficient and time-consuming. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a neuromuscular electrophysiological examination robot that can improve the detection efficiency and accuracy during neurophysiological and muscle electrophysiological examinations.

[0006] A neuromuscular electrophysiological examination robot includes a recording robot, an execution robot, a navigation robot, and a control system;

[0007] The recording robot includes a positioning mechanism and a recording mechanism. The positioning mechanism includes a support platform, a base, and a first positioning device. The base is disposed on the support platform and includes a front base plate, a rear base plate, two front side plates, and two rear side plates. The two front side plates are distributed on the front base plate in the left-right direction and can move left and right on the front base plate. The two rear side plates are distributed on the rear base plate in the left-right direction and can move left and right on the rear base plate. A guide rail is fixed on the rear side plate and extends to the front of the front side plate. A slider is slidably disposed on the guide rail. The first positioning device is connected to the slider and can locate the nerve part to be stimulated and the muscle part to be punctured in the body.

[0008] The recording mechanism can use recording electrodes to record electrical signals at the recording site and transmit the signals to the control system;

[0009] The execution robot includes a base, on which a multi-axis robotic arm is mounted. An end effector is connected to the multi-axis robotic arm. A gripping device and a second positioning device are connected to the end effector. The gripping device is capable of gripping a stimulator or a needle electrode.

[0010] The navigation robot can identify the positions of the first and second positioning devices and send the information to the control system. The control system can control the movement of the multi-axis robotic arm, thereby moving the gripping device to the nerve site to be stimulated located by the first positioning device, so that the stimulator can stimulate the nerve site to be stimulated. The control system can also control the movement of the multi-axis robotic arm, thereby moving the gripping device to the muscle site to be punctured located by the first positioning device, so that the needle electrode can perform puncture examination on the muscle site to be punctured.

[0011] Preferably, the recording mechanism is an elastic recording tape, and guide rails are fixed on both rear side plates. Fixing buckles are slidably arranged on the guide rails. A fixing buckle on one guide rail and a fixing buckle on the other guide rail form a fixing unit. The elastic recording tape is fixed on the two fixing buckles of the fixing unit.

[0012] The inner side of the elastic recording tape is provided with recording electrode plates. The elastic recording tape is equipped with a microcontroller and a wireless communication module. The recording electrode plates can detect the electrical signals of the recording area and transmit the signals to the microcontroller. The microcontroller can transmit the signals to the control system through the wireless communication module.

[0013] Preferably, the recording mechanism includes a first multi-axis robotic arm, a recording electrode plate, a microcontroller, and a wireless communication module. The recording electrode plate, the microcontroller, and the wireless communication module are all mounted on the first multi-axis robotic arm. The first multi-axis robotic arm can drive the recording electrode plate to the recording position. The recording electrode plate can detect the electrical signal at the recording position and transmit the signal to the microcontroller. The microcontroller can transmit the signal to the control system through the wireless communication module.

[0014] Preferably, the end effector is equipped with a multi-dimensional force sensor, which can detect the pressure exerted by the stimulator when it comes into contact with human skin or by the pressure exerted by the needle electrode when it is inserted into the human body and transmit the information to the control system.

[0015] Preferably, it also includes two first tensioners and a second tensioner. The two first tensioners are located on both sides of the two front side plates, and the inner ends of the two first tensioners are located between the two front side plates. The inner ends of the first tensioners are force-receiving devices and can move left and right. The second tensioner is located on the front side plate, and the rear end of the second tensioner is located between the two front side plates. The rear end of the second tensioner is a force-receiving device.

[0016] Preferably, a first cylinder is provided on the support platform. The first cylinder is connected to the front substrate or the rear substrate and can drive the front substrate or the rear substrate to move left and right.

[0017] Preferably, two second cylinders are provided on the front base plate, and the two second cylinders are respectively connected to the two front side plates. The second cylinders can drive the front side plates to move left and right.

[0018] Preferably, two third cylinders are provided on the rear base plate, and the two third cylinders are respectively connected to the two rear side plates. The third cylinders can drive the rear side plates to move left and right.

[0019] Preferably, the outer surface of the elastic recording tape has an indicator mark for assisting in determining the recording location, and the indicator mark corresponds to the position of the recording electrode.

[0020] Preferably, a ground wire is connected to the elastic recording tape, and the ground wire can contact the ground through the electrode clamp.

[0021] The beneficial effects of this invention are as follows: This device can automate the examination when doctors perform neurophysiological and muscle electrophysiological examinations, solving the problems of cumbersome operation, low examination efficiency, and time and energy consumption of doctors in the current neurophysiological and muscle electrophysiological examinations. The use of robot-assisted examination improves efficiency and accuracy of examination results. It can also automatically set the examination items and examination sequence according to the different symptoms and signs of patients, freeing up doctors' hands and saving time.

[0022] Under the guidance of the optical positioning device, combined with pressure feedback and myoacoustic feedback, the accuracy and success rate of the examination are greatly improved. This avoids the discomfort caused by repeated electrical stimulation and acupuncture during manual examination due to differences in the proficiency and experience of different doctors. By adjusting the contraction force of the muscle to be examined through the tensioner, the doctor can avoid the imbalance of force caused by manually antagonizing the muscle to be examined. This also allows the doctor to focus on the test items and results.

[0023] In the muscle electrophysiology detection mode, the combination of tensioner, multi-dimensional force sensor and control system can make the needle electrode reach the optimal puncture site, thereby achieving the best detection effect. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0025] Figure 1This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of the recording robot in this invention;

[0027] Figure 3 This is a schematic diagram of the overall structure of the execution robot and the navigation robot in this invention;

[0028] Figure 4 This is a bottom view of the tension recording tape in this invention;

[0029] Figure 5 This is a top view of the elastic recording tape in this invention.

[0030] In the attached diagram, 101-support platform, 103-front base plate, 104-rear base plate, 105-front side plate, 106-rear side plate, 107-guide rail, 108-fixing buckle, 109-tight recording tape, 110-recording electrode plate, 111-reference electrode plate, 112-slider, 113-first positioning device, 114-first tensioner, 115-second tensioner, 116-first cylinder, 117-second cylinder, 118-third cylinder, 201-base, 202-multi-axis robotic arm, 203-end effector, 204-gripping device, 205-second positioning device, 206-multi-dimensional force sensor, 301-navigation robot. Detailed Implementation

[0031] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0032] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0033] Example 1

[0034] like Figures 1-5 As shown, this embodiment provides a neuromuscular electrophysiological examination robot, including a recording robot, an execution robot, a navigation robot, and a control system;

[0035] The recording robot includes a positioning mechanism and a recording mechanism. The positioning mechanism includes a support platform 101, a base, and a first positioning device 113. The base is disposed on the support platform 101 and includes a front base plate 103, a rear base plate 104, two front side plates 105, and two rear side plates 106. The two front side plates 105 are distributed on the front base plate 103 in a left-right direction and can move left and right on the front base plate 103. The two rear side plates 106 are distributed on the rear base plate 104 in a left-right direction and can move left and right on the rear base plate 104. The device moves left and right on the rear base plate 104. A guide rail 107 is fixed on the rear side plate 106. The guide rail 107 extends to the front of the front side plate 105. A slider 112 is slidably arranged on the guide rail 107. A first positioning device 113 is connected to the slider. The first positioning device 113 can locate the nerve part to be stimulated and the muscle part to be punctured. The guide rail 107 is not connected to the front side plate 105 because the hind limbs of the human arm and leg are thicker than the forelimbs. This ensures that the width of the elastic recording tape 109 is sufficient to cover the hind limbs of the human arm or leg.

[0036] The recording mechanism can use the recording electrode 110 to record the electrical signal of the recording part and transmit the signal to the control system;

[0037] The execution robot includes a base 201, on which a multi-axis robotic arm 202 is mounted. An end effector 203 is connected to the multi-axis robotic arm 202. A gripping device 204 and a second positioning device 205 are connected to the end effector 203. The gripping device 204 is capable of gripping a stimulator or a needle electrode.

[0038] The navigation robot 301 can identify the positions of the first positioning device 113 and the second positioning device 205 and send the information to the control system. The control system can control the multi-axis robotic arm 202 to move and drive the gripping device 204 to move to the nerve site to be stimulated located by the first positioning device 113, so that the stimulator can stimulate the nerve site to be stimulated. The control system can also control the multi-axis robotic arm 202 to move and drive the gripping device 204 to move to the muscle site to be punctured located by the first positioning device 113, so that the needle electrode can perform puncture examination on the muscle site to be punctured.

[0039] The specific recording mechanism includes the following two forms. The first recording mechanism is a tension recording belt 109. Guide rails 107 are fixed on both rear side plates 106. Fixing buckles 108 are slidably arranged on the guide rails 107. One fixing buckle 108 on one guide rail 107 and one fixing buckle on the other guide rail 107 form a fixing unit. The tension recording belt 109 is fixed on the two fixing buckles 108 of the fixing unit.

[0040] The inner side of the elastic recording tape 109 is provided with a recording electrode 110. The elastic recording tape 109 is provided with a microcontroller and a wireless communication module. The recording electrode 110 can detect the electrical signal of the recording part and transmit the signal to the microcontroller. The microcontroller can transmit the signal to the control system through the wireless communication module.

[0041] The second recording mechanism includes a first multi-axis robotic arm, a recording electrode 110, a microcontroller, and a wireless communication module. The recording electrode 110, the microcontroller, and the wireless communication module are all mounted on the first multi-axis robotic arm. The first multi-axis robotic arm can drive the recording electrode 110 to the recording position. The recording electrode 110 can detect the electrical signal at the recording position and transmit the signal to the microcontroller. The microcontroller can transmit the signal to the control system through the wireless communication module.

[0042] The first method is selected in this embodiment because it is less expensive. The following embodiments will describe the first method in detail.

[0043] The multi-axis robotic arm 202 can be six-axis or seven-axis. In this embodiment, the guide rail 107 is not fixed to the front side plate 105, and the front side plate 105 and the rear side plate 106 can move independently.

[0044] In this embodiment, the support platform 101 and the base 201 can be movable platforms, etc.

[0045] Specifically, the navigation robot 301, the first positioning device 113, and the second positioning device 205 constitute an optical positioning system. The navigation robot is equipped with an optical locator, which is a CCD camera capable of transmitting and receiving infrared light. The first positioning device 113 and the second positioning device 205 each include a positioning rigid body with positioning balls mounted on it. The positioning rigid body can be of various shapes, such as a cross shape. The control system stores the corresponding structural information. The positioning balls can reflect infrared light, enabling the navigation robot to identify the positions of the first positioning device 113 and the second positioning device 205. The first positioning device 113 can move on the guide rail 107 to locate the nerve to be stimulated and the muscle to be punctured, so that the navigation robot 301 can obtain the actual position of the recording site. The second positioning device 205 is set on the clamping device 204, so that the navigation robot 301 can obtain the actual position of the clamping device 204. In this way, the control system can control the multi-axis robotic arm 202 to move and drive the clamping device 204 to the location of the nerve to be stimulated or the muscle to be punctured located by the first positioning device 113, so that the stimulator can stimulate the nerve to be stimulated or the needle electrode can puncture the muscle to be punctured.

[0046] The specific working principle is as follows: Place the palm or sole on the front base plate 103, and the arm or leg on the rear base plate 104. Adjust the positions of the front side plate 105 and the rear side plate 106 for clamping and fixing. Then adjust the position of the tension recording tape 109 so that it moves to the recording site and the recording electrode 110 is in close contact with the recording site. Then move the first positioning device 113 to the nerve site to be stimulated or the muscle site to be punctured and position it. At this time, the navigation robot 301 identifies the real-time position of the first positioning device 113 and the second positioning device 205. The clamping device 204 clamps the stimulator or needle electrode. The control system controls the multi-axis robotic arm 202 to move so that the stimulator or needle electrode reaches the designated position to stimulate the nerve site to be stimulated or to puncture the muscle site to be punctured. Then the recording electrode 110 records information at the recording site and transmits the information to the control system. The control system displays the information on the display. This allows doctors to perform automated neurophysiological examinations, solving the problems of cumbersome procedures, low efficiency, and high time and energy consumption in current neurophysiological examinations. Using robots to assist in the examination improves efficiency and accuracy of results. It can also automatically set the examination items and order according to the patient's different symptoms and signs, freeing up the doctor's hands and saving time.

[0047] In the neurophysiological examination mode, the elastic recording tape 109 is moved to the recording site of the nerve to be tested and fixed with the elastic recording tape 109 so that the recording electrode 110 is in close contact with the recording site. Here, the position of the recording electrode 110 is determined with the help of the indicator marks on the outer side of the elastic recording tape 109. The navigation robot 301 identifies the real-time position of the first positioning device 113 and the second positioning device 205 and performs path planning. After the planning is completed, the control system can perform path simulation to ensure the accuracy of the examination. The control system will control the multi-axis robotic arm 202 to move according to the path until the stimulator moves to the nerve to be stimulated and stimulates the nerve to be stimulated.

[0048] In this embodiment, a reference electrode 111 is provided on the elastic recording tape 109, for example, to detect the median nerve and ulnar nerve in the upper limb. The detection point for the median nerve is located at the belly of the abductor pollicis brevis muscle (midpoint of the thenar eminence). The content detected is the magnitude of the median nerve discharge, which is recorded using the recording electrode 110. The reference electrode 111 distinguishes this discharge magnitude from other confounding factors. The reference electrode 111 is placed near the recording electrode 110, approximately at the junction of the thumb and the thenar eminence. The corresponding detection point for the ulnar nerve is located at the midpoint of the hypothenar eminence. Currently, traditional examinations record the median nerve and ulnar nerve separately, with the recording electrode 110 and reference electrode 111 attached to the corresponding recording sites one by one, which is cumbersome. This technical solution uses the elastic recording tape 109, which allows the recording electrode 110 to be attached to the recording sites of both nerves at once, thus further improving detection efficiency.

[0049] In the muscle electrophysiological examination mode, the first positioning device 113 is moved to the muscle to be punctured, the stimulator is replaced with a needle electrode for puncture, the navigation robot 301 identifies the real-time position of the first positioning device 113 and the second positioning device 205, the control system performs path planning, and the control system adjusts the needle electrode insertion point and direction so that the needle electrode tip is aligned with the nerve to be stimulated at a suitable angle.

[0050] In this embodiment, the end effector 203 is equipped with a multi-dimensional force sensor 206. The multi-dimensional force sensor 206 can detect the pressure of the stimulator when it comes into contact with the human skin or the pressure of the needle electrode when it is inserted into the human body and transmit the information to the control system.

[0051] This embodiment also includes two first tensioners 114 and a second tensioner 115. The two first tensioners 114 are located on both sides of the two front side plates 105, with their inner ends positioned between the two front side plates 105. The inner ends of the first tensioners 114 serve as force-receiving devices and are capable of left and right movement. The second tensioner 115 is located on the front side plate 105, with its rear end positioned between the two front side plates 105. The rear end of the second tensioner 115 also serves as a force-receiving device. The force-receiving device can be a compression plate, an elastic ring, or a pull plate, etc., selected according to actual needs.

[0052] The multidimensional force sensor 206 is mounted on the end effector 203. In the neurophysiological detection mode, the multidimensional force sensor 206 can detect the pressure when the stimulator comes into contact with the limb and feed the pressure back to the control system.

[0053] In the muscle electrophysiology examination mode, a multidimensional force sensor monitors the change in puncture force during the needle electrode puncture process to determine whether the skin has been punctured. After the needle electrode punctures the skin and adipose tissue, it enters the muscle tissue. By having a specific limb resist different tensions in the tensioner, the examined muscle is activated, causing the examined muscle to actively tense. Simultaneously, muscle sounds are detected to determine whether the muscle belly has been reached. When the muscle sounds reach their strongest, it indicates that the needle electrode has reached the puncture site, at which point the muscle electrophysiology examination is performed.

[0054] For example, the inner end of the first resistance band 114 is a compression plate or a pull plate, and the rear end of the second resistance band 115 is an elastic ring. In the muscle electrophysiology testing mode, when testing the abductor hallucis brevis muscle, the thumb is abducted to resist the first resistance band 114 on the same side. Correspondingly, when testing the abductor digiti minimi muscle, the little finger is forcefully abducted to resist the first resistance band 114 on the same side as the little finger. When testing the tibialis anterior muscle, the elastic ring at the rear end of the second resistance band 115 is placed on the instep, and the instep is tilted upwards to resist the second resistance band 115, thereby causing the corresponding muscle to contract.

[0055] The resistance band can be adjusted. When testing the physiological function of muscle light contraction, the resistance of the resistance band can be reduced, while when testing the physiological function of muscle heavy contraction, the resistance can be increased.

[0056] Guided by an optical positioning device, and combined with pressure feedback or myoacoustic feedback, the accuracy and success rate of the examination are greatly improved. This avoids the discomfort caused by repeated electrical stimulation and acupuncture during manual examinations due to differences in the skill and experience of different physicians. By adjusting the contraction force of the muscle being examined through a tension device, the physician can avoid the uneven force caused by manually antagonizing the muscle being tested, allowing the physician to focus primarily on the test items and results. In this muscle electrophysiological testing mode, the coordination of the tension device, multi-dimensional force sensors, and control system enables the needle electrode to reach the optimal puncture site, thereby maximizing the test results.

[0057] In this technical solution, the neuromuscular electrophysiological examination is performed by computer-aided robots, which automatically examine different parts of various neuromuscular systems. This expands the pool of doctors who can perform this examination, making it easier for physicians in other clinical departments (such as orthopedics, endocrinology, nephrology, oncology, neurosurgery, obstetrics and gynecology) to perform the examination in addition to traditional neurologists, thus lowering the barrier to entry for the use of neuromuscular electrophysiological examination.

[0058] In this embodiment, a first cylinder 116 is provided on the support platform 101. The first cylinder 116 is connected to the front substrate 103 or the rear substrate 104, and the first cylinder 116 can drive the front substrate 103 or the rear substrate 104 to move left and right. This realizes the adjustment of the distance between the front substrate 103 and the rear substrate 104, making it suitable for people of different heights.

[0059] In this embodiment, two second cylinders 117 are provided on the front base plate 103. The two second cylinders 117 are respectively connected to two front side plates 105. The second cylinders 117 can drive the front side plates 105 to move left and right.

[0060] In this embodiment, two third cylinders 118 are provided on the rear base plate 104. The two third cylinders 118 are respectively connected to the two rear side plates 106. The third cylinders 118 can drive the rear side plates 106 to move left and right. This realizes the movement of the front side plate 105 and the rear side plate 106.

[0061] In this embodiment, the top wall of the elastic recording tape 109 has an indicator mark for assisting in determining the recording site. The indicator mark corresponds to the position of the recording electrode 110 and is used to assist the doctor in attaching the recording electrode 110 to the recording site.

[0062] In this embodiment, a ground wire is connected to the elastic recording tape 109, and the ground wire can contact the ground through the electrode clip. The function of the ground wire is to ground the patient's limb, thereby eliminating interference.

[0063] In this embodiment, the bottom wall of the elastic recording tape 109 is provided with a thumb fixing hole. One end of the elastic recording tape 109 is fixed to a fixing buckle, and the other end passes through another fixing buckle, is folded upward and then glued and fastened. In this way, the length of the elastic recording tape 109 can be adjusted. When the elastic recording tape 109 needs to be tied to the palm, the thumb can pass through the thumb fixing hole for positioning and then wrap the elastic recording tape 109 around the palm.

[0064] In this embodiment, both the fixing buckle and the slider have corresponding limiting devices. When adjusted to the corresponding position, the limiting devices can be fixed to prevent the positions of the first positioning device 112 and the tension recording tape 109 from changing.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A neuromuscular electrophysiological examination robot, characterized in that, This includes recording robots, execution robots, navigation robots, and control systems; The recording robot includes a positioning mechanism and a recording mechanism. The positioning mechanism includes a support platform (101), a base, and a first positioning device (113). The base is disposed on the support platform (101) and includes a front base plate (103), a rear base plate (104), two front side plates (105), and two rear side plates (106). The two front side plates (105) are distributed on the front base plate (103) in the left-right direction and can move left and right on the front base plate (103). The two rear side plates (106) are distributed on the front base plate (103) in the left-right direction. Side plates (106) are distributed on the rear base plate (104) in the left and right direction. The rear side plates (106) can move left and right on the rear base plate (104). A guide rail (107) is fixed on the rear side plates (106). The guide rail (107) extends to the front of the front side plate (105). A slider (112) is slidably arranged on the guide rail (107). A first positioning device (113) is connected to the slider. The first positioning device (113) can locate the nerve part to be stimulated and the muscle part to be punctured. The recording mechanism can use the recording electrode pads (110) to record the electrical signals of the recording area and transmit the signals to the control system; The execution robot includes a base (201), on which a multi-axis robotic arm (202) is mounted. An end effector (203) is connected to the multi-axis robotic arm (202). A gripping device (204) and a second positioning device (205) are connected to the end effector (203). The gripping device (204) is capable of gripping a stimulator or a needle electrode. The navigation robot (301) can identify the positions of the first positioning device (113) and the second positioning device (205) and send the information to the control system. The control system can control the movement of the multi-axis robotic arm (202) and drive the gripping device (204) to move to the nerve site to be stimulated by the first positioning device (113), so that the stimulator can stimulate the nerve site to be stimulated; or the control system can control the movement of the multi-axis robotic arm (202) and drive the gripping device (204) to move to the muscle site to be punctured by the first positioning device (113), so that the needle electrode can puncture the muscle site to be punctured.

2. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, The recording mechanism is a tension recording tape (109). Guide rails (107) are fixed on both rear side plates (106). Fixing buckles (108) are slidably arranged on the guide rails (107). A fixing buckle (108) on one guide rail (107) and a fixing buckle on the other guide rail (107) form a fixing unit. The tension recording tape (109) is fixed on the two fixing buckles (108) of the fixing unit. The inner side of the elastic recording tape (109) is provided with a recording electrode (110). The elastic recording tape (109) is provided with a microcontroller and a wireless communication module. The recording electrode (110) can detect the electrical signal of the recording part and transmit the signal to the microcontroller. The microcontroller can transmit the signal to the control system through the wireless communication module.

3. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, The recording mechanism includes a first multi-axis robotic arm, a recording electrode (110), a microcontroller, and a wireless communication module. The recording electrode (110), the microcontroller, and the wireless communication module are all mounted on the first multi-axis robotic arm. The first multi-axis robotic arm can drive the recording electrode (110) to the recording position. The recording electrode (110) can detect the electrical signal at the recording position and transmit the signal to the microcontroller. The microcontroller can transmit the signal to the control system through the wireless communication module.

4. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, The end effector (203) is equipped with a multi-dimensional force sensor (206), which can detect the pressure of the stimulator when it comes into contact with human skin or the pressure of the needle electrode when it is inserted into the human body and transmit the information to the control system.

5. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, It also includes two first tensioners (114) and a second tensioner (115). The two first tensioners (114) are located on both sides of the two front side plates (105). The inner ends of the two first tensioners (114) are located between the two front side plates (105). The inner ends of the first tensioners (114) are force-bearing devices and can move left and right. The second tensioner (115) is located on the front side plate (105). The rear end of the second tensioner (115) is located between the two front side plates (105). The rear end of the second tensioner (115) is a force-bearing device.

6. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, The support platform (101) is provided with a first cylinder (116), which is connected to the front substrate (103) or the rear substrate (104). The first cylinder (116) can drive the front substrate (103) or the rear substrate (104) to move left and right.

7. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, Two second cylinders (117) are provided on the front base plate (103). The two second cylinders (117) are respectively connected to two front side plates (105). The second cylinders (117) can drive the front side plates (105) to move left and right.

8. The neuromuscular electrophysiological examination robot according to claim 1, characterized in that, Two third cylinders (118) are provided on the rear base plate (104). The two third cylinders (118) are respectively connected to the two rear side plates (106). The third cylinders (118) can drive the rear side plates (106) to move left and right.

9. A neuromuscular electrophysiological examination robot according to claim 2, characterized in that, The outer side of the elastic recording tape (109) has an indicator mark for assisting in determining the recording location, and the indicator mark corresponds to the position of the recording electrode (110).

10. A neuromuscular electrophysiological examination robot according to claim 2, characterized in that, A ground wire is connected to the elastic recording tape (109), and the ground wire can contact the ground through the electrode clamp.

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