Electrode implantation surgical robot

Abstract

The present invention discloses an electrode implantation surgical robot, comprising a control terminal and a first mechanical arm, a first end actuator, a second mechanical arm and a second end actuator connected to the control terminal; the end of the first mechanical arm is connected to the first end actuator, and the end of the second mechanical arm is connected to the second end actuator; the control terminal comprises: a positioning module for determining the target position and target depth required for electrode implantation; a first control module for moving the first end actuator to the target position driven by the first mechanical arm, drilling at the target position according to the target depth, and stopping drilling and triggering the second control module when the drilling end condition is met; a second control module for moving the second end actuator to the target position driven by the second mechanical arm, and implanting the electrode at the target position. The present invention realizes one-touch fully automatic operation and full-process aseptic operation of electrode implantation, and has high implantation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of brain function detection, and in particular to an electrode implantation surgical robot. Background Art

[0002] Brain-computer interface, sometimes also called "brain port" or "brain-computer fusion perception", is a direct connection pathway established between the human or animal brain (or brain cell culture) and external devices. As a multidisciplinary cross-technology, brain-computer interface has received widespread attention from scientific research and industry around the world. Among them, flexible electrodes, as a branch of brain-computer interface, are considered to be the "final form of brain-computer interface" due to their superior biocompatibility.

[0003] A stereotaxic device is an instrument that can accurately insert electrodes or injection needles into the brain to determine the location. In the prior art, a brain stereotaxic device is mainly used as a positioning instrument, and a three-dimensional coordinate system defined by certain skull external landmarks (such as the anterior fontanelle, the posterior fontanelle, the external auditory canal, the eye socket, the sagittal suture, etc.) or other reference points is used to determine the location of certain subcortical neural structures, and the surgeon implants the electrode at the determined location through surgery.

[0004] The disadvantage of this motor implantation method is that it cannot 100% guarantee a sterile environment, intraoperative bleeding volume, and precise surgical positioning. Summary of the invention

[0005] The embodiments of the present invention are intended to solve the problems of aseptic operation, skull drilling and electrode implantation accuracy caused by the limitation of the surgeon's level when artificially implanting flexible electrodes for brain-computer interfaces.

[0006] To solve the above problems, an embodiment of the present invention provides an electrode implantation surgical robot, comprising a control terminal, a first mechanical arm, a first end effector, a second mechanical arm, and a second end effector;

[0007] The end of the first mechanical arm is connected to the first end actuator, the end of the second mechanical arm is connected to the second end actuator, and the first mechanical arm, the first end actuator, the second mechanical arm and the second end actuator are all connected to the control terminal;

[0008] The control terminal includes a positioning module, a first control module and a second control module; the positioning module is used to determine the target position and target depth required for electrode implantation; the first control module is used to enable the first end actuator to move to the target position under the drive of the first robotic arm, drill a hole at the target position according to the target depth, and stop drilling and trigger the second control module when the drilling end condition is met; the second control module is used to enable the second end actuator to move to the target position under the drive of the second robotic arm, and implant the electrode at the target position.

[0009] Further, the positioning module includes a first target position determination module and / or a second target position determination module;

[0010] The first target position determination module is used to determine the target position of the electrode implantation according to the received coordinate information;

[0011] The second target position determination module is used to determine the target position of the electrode implantation according to the standard brain map and the received brain region information; wherein the standard brain map includes the correspondence between the brain region information and the coordinate information.

[0012] Furthermore, the positioning module includes a target depth determination module, and the target depth determination module is used to determine the target depth required for electrode implantation according to user input.

[0013] Furthermore, it also includes a pressure sensor, which is connected to the control terminal. The pressure sensor is used to generate a pressure change signal when a pressure change of the first end actuator is detected, and the first control mechanism is used to control the first end actuator to stop drilling in response to the pressure change signal.

[0014] Furthermore, the pressure sensor is arranged on an outer surface of the first end actuator, and a setting area of ​​the pressure sensor does not overlap with the first mechanical arm.

[0015] Furthermore, the pressure sensor is disposed at the end of the first mechanical arm, and the pressure sensor is close to the first end actuator.

[0016] Furthermore, the first end effector is a cranial drill.

[0017] Furthermore, the second end actuator includes a stereotaxic instrument, which is connected to the end of the second robotic arm and connected to the control terminal, and can send current coordinate information of the implanted electrode to the control terminal.

[0018] Furthermore, the second end-effector also includes a digital display system, which is connected to the stereotaxic instrument and can display the current coordinate information of the implanted electrode.

[0019] Furthermore, the control terminal also includes a position comparison module, and the comparison module is used to determine whether the current coordinate information is consistent with the target position and the target depth.

[0020] The implementation of the present invention has the following beneficial effects:

[0021] An electrode implantation surgical robot provided by an embodiment of the present invention enables an operator to perform full-process aseptic operation and precise implantation of electrodes without the need for professional medical or surgical training.

[0022] An electrode implantation surgical robot provided in an embodiment of the present invention can sense drilling pressure when drilling a hole in the skull, automatically identify the brain according to pressure changes, avoid large-area bleeding caused by drilling too deep, and effectively reduce the amount of bleeding during surgery.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a structural block diagram of an electrode implantation surgical robot provided by an embodiment of the present invention;

[0026] Figure 2 is a structural block diagram of a control terminal provided by an embodiment of the present invention;

[0027] Figure 3 It is a structural block diagram of an electrode implantation surgical robot provided by an embodiment of the present invention.

[0028] Among them, the control terminal 100, the positioning module 110, the first control module 120, and the second control module 130;

[0029] A first robotic arm 200;

[0030] A first end effector 300 and a cranial drill 310;

[0031] A second robotic arm 400;

[0032] A second end effector 500 , a stereotaxic apparatus 510 , and a digital display system 520 . DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0034] It should be noted that although the functional modules are divided in the device schematic, in some cases, the modules can be divided differently from those in the device. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0035] Example

[0036] The electrode implantation surgical robot provided by the embodiment of the present invention can realize the whole process of aseptic operation of electrode implantation and improve the accuracy of electrode implantation. Figure 1 is a structural block diagram of an electrode implantation surgical robot provided by an embodiment of the present invention, specifically as follows Figure 1 As shown, an electrode implantation surgical robot provided by an embodiment of the present invention includes a control terminal 100, a first robotic arm 200, a first end effector 300, a second robotic arm 400 and a second end effector 500;

[0037] The end of the first robotic arm 200 is mechanically connected to the first end actuator 300, and the end of the second robotic arm 400 is mechanically connected to the second end actuator 500. The first robotic arm 200, the first end actuator 300, the second robotic arm 400 and the second end actuator 500 are all electrically connected / communicatively connected to the control terminal 100. Before the operation, the first end actuator 300 (such as the cranial drill 310) and the second end actuator 500 (such as the stereotaxic instrument 510) of the entire surgical robot in contact with the biological body are disinfected with 75% alcohol and placed in a ventilated place. During operation, only the computer to which it is connected is controlled to avoid infection.

[0038] Specifically, the control terminal 100 may be a computer terminal, a mobile terminal device, or a non-mobile terminal device. The mobile terminal device may be a mobile phone, a tablet computer, a laptop computer, a PDA, a wearable device, a super mobile personal computer, a netbook, or a personal digital assistant, etc.; the non-mobile terminal device may be a personal computer, etc.

[0039] Specifically, the control terminal 100 also includes an input device and an output device. The input device may be a mouse, a keyboard, a microphone, etc., and the output device may be a display, a speaker, etc., but this embodiment is not limited thereto.

[0040] Specifically, the first mechanical arm 200 is a three-dimensional mechanical arm, and further includes a first driving motor and a first supporting frame, wherein the first driving motor is used to drive the first mechanical arm 200 to move to a target position, and the first supporting frame is connected to a moving track of the first mechanical arm 200;

[0041] Specifically, it also includes a second driving motor and a second supporting frame. The second driving motor is used to drive the second robotic arm 400 to move to the target position. The second supporting frame is connected to a moving track of the second robotic arm 400.

[0042] Figure 2 is a structural block diagram of a control terminal provided by an embodiment of the present invention, specifically as follows Figure 2 As shown, the control terminal 100 includes a positioning module 110, a first control module 120 and a second control module 130; the positioning module 110 is used to determine the target position and target depth required for electrode implantation; the first control module 120 is used to enable the first end actuator 300 to move to the target position under the drive of the first robotic arm 200, drill at the target position according to the target depth, and stop drilling and trigger the second control module 130 when the drilling end condition is met; the second control module 130 is used to enable the second end actuator 500 to move to the target position under the drive of the second robotic arm 400, and implant the electrode at the target position.

[0043] Specifically, the drilling end condition may be that the drilling reaches a target depth, or the drilling end condition may be that the control terminal 100 receives a pressure change signal sent by a pressure sensor.

[0044] In one embodiment, the positioning module 110 includes a first target position determination module; the first target position determination module is used to determine the target position of the electrode implantation according to the received coordinate information.

[0045] In one embodiment, the positioning module 110 includes a second target position determination module; the second target position determination module is used to determine the target position of the electrode implantation according to the standard brain map and the received brain region information; wherein the standard brain map includes the correspondence between the brain region information and the coordinate information. Specifically, the computer interacts with the surgical robot, and uses the matlab program to store and memorize the standard brain map of the mouse, so that the input coordinates can determine the brain region range, and the input brain region can display the accurate correspondence of the coordinate information corresponding to the brain region range.

[0046] In one embodiment, the positioning module 110 includes a first target position determination module and a second target position determination module; the first target position determination module is used to determine the target position of the electrode implantation based on the received coordinate information; the second target position determination module is used to determine the target position of the electrode implantation based on the standard brain map and the received brain area information; wherein the standard brain map includes the correspondence between the brain area information and the coordinate information.

[0047] Furthermore, the positioning module 110 includes a target depth determination module, which is used to determine the target depth required for electrode implantation according to user input.

[0048] Taking into account individual differences, the thickness of the skull tops of different biological individuals may vary slightly. When only coordinate positioning is used to determine the target depth of the drilling, even if the skull top has been penetrated, the cranial drill 310 will continue to drill until the target depth is reached, which may damage the mouse brain to a small extent or cause surgical bleeding.

[0049] In order to avoid excessively deep drilling, which may lead to extensive bleeding and damage to the brain, the motor implant surgery robot is also equipped with a pressure sensor, which is electrically or communicatively connected to the control terminal 100. The pressure sensor is used to generate a pressure change signal when detecting a pressure change of the first end effector 300, and the first control mechanism is used to control the first end effector 300 to stop drilling in response to the pressure change signal. That is, when the pressure decreases, the first end effector 300 (e.g., cranial drill 310) will automatically stop working even if the target depth set by the program has not yet been reached.

[0050] In a specific example, after inputting coordinate information or brain area, the MATLAB program will control the first mechanical arm 200 of the external cranial drill 310 to start positioning from the bregma point from the X axis to the Y axis. After drilling through the skull on the Z axis, the pressure sensor transmits a signal and the cranial drill 310 stops working to avoid bleeding and damage to the mouse brain. After the hole is opened, the second mechanical arm 400 drives the stereotaxic instrument 510 to implant the electrode into the required precise positioning area.

[0051] The pressure sensor can be set on the outer surface of the first end actuator 300. It should be noted that when the pressure sensor is set on the first end actuator 300, its setting area does not overlap with the first robotic arm 200. That is to say, the pressure sensor should not be set in the area where the first end actuator 300 is clamped by the first robotic arm 200, because the force in the clamped area is applied by the first robotic arm 200 to the first end actuator 300, rather than the resistance encountered by the first end actuator 300 during the drilling process.

[0052] Considering that the area on the outer surface of the first end actuator 300 for setting the pressure sensor is limited, in some alternative schemes, the pressure sensor can be set at the end of the first robotic arm 200. To ensure the sensitivity of the pressure sensor, the pressure sensor should be as close to the first end actuator 300 as possible.

[0053] In some embodiments, the first end effector 300 includes a cranial drill 310, and the second end effector 500 includes a stereotaxic instrument 510. The stereotaxic instrument 510 is mechanically connected to the end of the second robotic arm 400, and the stereotaxic instrument 510 is electrically or communicatively connected to the control terminal 100. The stereotaxic instrument 510 can send the current coordinate information of the implanted electrode to the control terminal 100.

[0054] Figure 3 is a structural block diagram of an electrode implantation surgical robot provided by an embodiment of the present invention, specifically as follows Figure 3 As shown, in some embodiments, the first end effector 300 includes a cranial drill 310, and the second end effector 500 includes a stereotaxic instrument 510 and a digital display system 520. The stereotaxic instrument 510 is mechanically connected to the end of the second mechanical arm 400, and the stereotaxic instrument 510 is electrically connected or communicatively connected to the control terminal 100. The stereotaxic instrument 510 can send the current coordinate information of the implanted electrode to the control terminal 100, and the digital display system 520 is electrically connected or communicatively connected to the stereotaxic instrument 510. The digital display system 520 can display the current coordinate information of the implanted electrode, so that the operator can understand whether the actual implantation position of the electrode is accurate according to the current coordinate information displayed by the digital display system 520. The second mechanical arm 400 is adapted to the stereotaxic instrument 510 and the digital display system 520, so that the first mechanical arm 200 and the second mechanical arm 400 automatically locate and achieve 10um level precision implantation according to the coordinates or brain area information input by the control terminal 100.

[0055] In some embodiments, the control terminal 100 further includes a position comparison module, which is used to determine whether the current coordinate information (x', y', z') is consistent with the target position and target depth. The target position x, y, and target depth z can be the coordinate information (x, y, z) input by the user, or the coordinate information (x, y, z) obtained by querying the standard brain map and the brain area information input by the user.

[0056] It can be seen from the above-mentioned embodiment of an electrode implantation surgical robot provided by an embodiment of the present invention that the electrode implantation surgical robot provided by an embodiment of the present invention supports one-button fully automatic operation, so that the operator can achieve full sterile operation and precise implantation of electrode implantation without professional training in medicine or surgery, and the precision of flexible electrode implantation can reach 10um level. In addition, the electrode implantation surgical robot can also sense the drilling pressure when drilling a hole in the skull, automatically identify the brain according to the pressure change, avoid large-area bleeding caused by drilling too deep, and effectively reduce the amount of bleeding during surgery.

[0057] It should be noted that the order of the above embodiments of the present invention is for description only and does not represent the superiority or inferiority of the embodiments. The above is a description of a specific embodiment of this specification. Other embodiments are within the scope of the attached claims.

[0058] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electrode implantation surgical robot, characterized in that: It comprises a control terminal (100), a first mechanical arm (200), a first end-actuating mechanism (300), a second mechanical arm (400) and a second end-actuating mechanism (500); The end of the first mechanical arm (200) is connected to the first end actuator (300), the end of the second mechanical arm (400) is connected to the second end actuator (500), and the first mechanical arm (200), the first end actuator (300), the second mechanical arm (400) and the second end actuator (500) are all connected to the control terminal (100); The control terminal (100) comprises a positioning module (110), a first control module (120) and a second control module (130); the positioning module (110) is used to determine the target position and target depth required for electrode implantation; the first control module (120) is used to enable the first end actuator (300) to move to the target position under the drive of the first mechanical arm (200), drill a hole at the target position according to the target depth, and stop drilling and trigger the second control module (130) when a drilling end condition is met; the second control module (130) is used to enable the second end actuator (500) to move to the target position under the drive of the second mechanical arm (400), and implant the electrode at the target position; The positioning module (110) comprises a target depth determination module, the target depth determination module being used to determine the target depth required for electrode implantation according to user input; The electrode implantation surgical robot further comprises a pressure sensor, the pressure sensor being connected to the control terminal (100), and the pressure sensor being used to generate a pressure change signal when a pressure change of the first end actuator (300) is detected; the pressure sensor is arranged on an outer surface of the first end actuator (300), and an arrangement area of ​​the pressure sensor does not overlap with the first mechanical arm (200); The drilling end condition includes that the drilling reaches the target depth, or the drilling end condition includes that the control terminal (100) receives a pressure change signal sent by a pressure sensor; the first control module (120) is used to control the first end actuator (300) to stop working when the pressure decreases.

2. The electrode implantation surgical robot according to claim 1, characterized in that: The positioning module (110) comprises a first target position determination module and / or a second target position determination module; The first target position determination module is used to determine the target position of the electrode implantation according to the received coordinate information; The second target position determination module is used to determine the target position of the electrode implantation according to the standard brain map and the received brain region information; wherein the standard brain map includes the correspondence between the brain region information and the coordinate information.

3. The electrode implantation surgical robot according to claim 1, characterized in that: The pressure sensor is arranged at the end of the first mechanical arm (200), and the pressure sensor is close to the first end actuator (300).

4. The electrode implantation surgical robot according to claim 1, characterized in that: The first end effector (300) includes a cranial drill (310).

5. The electrode implantation surgical robot according to claim 1, characterized in that: The second end actuator (500) comprises a stereotaxic instrument (510), the stereotaxic instrument (510) being connected to the end of the second mechanical arm (400), the stereotaxic instrument (510) being connected to the control terminal (100), and the stereotaxic instrument (510) being capable of sending current coordinate information of the implanted electrode to the control terminal (100).

6. The electrode implantation surgical robot according to claim 5, characterized in that: The second end-actuator (500) further comprises a digital display system (520), wherein the digital display system (520) is connected to the stereotaxic instrument (510), and the digital display system (520) is capable of displaying the current coordinate information of the implanted electrode.

7. The electrode implantation surgical robot according to claim 5, characterized in that: The control terminal (100) also includes a position comparison module, which is used to determine whether the current coordinate information is consistent with the target position and target depth.

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