System for implanting an electrode wire and method for operating same

Abstract

The present disclosure relates to a system for implanting electrode wires, which is used to implant electrode wires into the brain of a living organism. The system includes: an implanting device, a first light source, a second light source, a first camera, a second camera, a brain surface camera, and a processing device; wherein, the implanting device is equipped with an implanting motion mechanism, and the implanting motion mechanism is configured to enable the implanting device to implant electrode wires from different angles and in different orientations. The present disclosure also relates to a system for implanting biological electrodes into a target, a system for implanting electrode wires into a target, and a method for operating the system according to the present disclosure.

Description

Technical Field

[0001] The present disclosure relates to a system for implanting an electrode wire, a system for implanting a biological electrode into a target, a system for implanting an electrode wire into a target, and a method for operating a system according to the present disclosure. Background Art

[0002] Flexible neural electrodes, as important tools in the field of brain-computer interfaces, are currently being developed and gradually improved by domestic and foreign scientific research and commercial institutions. The greatest advantage of flexible neural electrodes compared to traditional rigid neural electrodes lies in their excellent mechanical compatibility and their tendency not to form scars in brain tissue. However, due to the low mechanical strength and easy deformation of the electrode wire itself, it is prone to break during the process of implanting into brain tissue and is not easy to pass through the meninges into the tissue. Therefore, the current tools and methods for implanting flexible neural electrodes are a technical challenge.

[0003] In the currently existing implanting schemes, they are mainly divided into two categories: manual implantation and machine-assisted implantation. Manual implantation is carried out by pure manual operation means for implanting the electrode wire. Usually, the first step is to prepare all the electrode wires to be implanted and the guiding needles corresponding to each electrode wire in advance. The electrode wires need to be fixed on each guiding needle in advance by adhesion or loop methods. Then, find the brain tissue area to be implanted and implant a row of guiding needles with electrode wires into the target area simultaneously. This method has many problems, including: 1) long preparation time; 2) due to the limitation of the overall size of the electrode, only a limited number of a row of electrode wires can be implanted at one time. If the number of electrode wires to be implanted exceeds one row, multiple combinations of guiding needles and electrode wires need to be prepared, consuming a large amount of preparation time and resources; 3) since a row of electrode wires needs to be implanted simultaneously each time, the implantation sites cannot be freely selected; 4) manual implantation also has a problem of insufficient implantation speed, which may cause the guiding needle to be unable to penetrate the dura mater to implant the electrode wire.

[0004] In summary, the method of manual implantation has many problems. In view of these problems, the method of robot-assisted implantation is currently the most promising solution. Robots have the ability to complete work more precisely and the ability to complete repetitive work with consistency compared to humans. There are still many problems at present. For example, the implantation head is installed on a three-axis moving platform, which will cause the implantation head to be unable to implant at different angles and can only move linearly on the XYZ axes. Since the surface of the human brain is not flat, this will cause the electrode wire to be unable to be implanted at a predicted angle. Another problem is that the form of the needle plus clip on the implantation head is prone to cause the electrode wire to break, unless the hardness of the electrode wire is large enough, but a large hardness will cause greater damage to brain tissue. Therefore, this structure has risks. Summary of the Invention

[0005] The object of the present disclosure is to provide a system for implanting an electrode wire, a system for implanting a biological electrode into a target, a system for implanting an electrode wire into a target, and a method for operating the system according to the present disclosure, which can overcome the defects in the prior art.

[0006] According to a first aspect of the present disclosure, there is provided a system for implanting an electrode wire, the system being configured to implant the electrode wire into the brain of an organism, the system comprising: an implantation device including an implantation needle, an implantation feeding mechanism, and an implantation execution mechanism, the implantation needle being configured to engage the free end of the electrode wire with its needle tip portion so as to drive the movement of the electrode wire, the implantation feeding mechanism being configured to move the implantation needle in the longitudinal direction of the implantation device, the implantation execution mechanism being configured to drive the implantation needle to pierce the needle tip portion of the implantation needle into the brain; a first light source for providing a first light suitable for observing the needle tip portion of the implantation needle and the free end of the electrode wire; a second light source for providing a second light suitable for observing the brain surface; a first camera configured to obtain a first image of the needle tip portion and the free end of the electrode wire with the assistance of the first light; a second camera configured to obtain a second image of the needle tip portion and the free end of the electrode wire with the assistance of the first light, wherein the optical paths of the first camera and the second camera are at an angle to each other; a brain surface camera configured to obtain a third image of the brain surface with the assistance of the second light; and a processing device configured to identify the relative position of the needle tip portion and the free end of the electrode wire based on the first image and the second image, and identify the implantable area of the brain surface based on the third image; wherein the implantation device is provided with an implantation movement mechanism configured to enable the implantation device to implant the electrode wire from different angles and in different orientations.

[0007] According to a second aspect of the present disclosure, there is provided a system for implanting a biological electrode into a target, comprising: an execution mechanism configured to drive a guiding device engaged with the biological electrode to move so that the guiding device together with the biological electrode enters the target; a position adjustment mechanism configured to adjust the position of the execution mechanism so that the guiding device approaches the target implantation area of the target; and an orientation adjustment mechanism configured to adjust the orientation of the execution mechanism so that the guiding device can enter the target at a specific angle relative to the surface of the target implantation area.

[0008] According to a third aspect of the present disclosure, there is provided a system for implanting an electrode wire into a target, including an implant subsystem, and the implant subsystem includes: an actuator configured to drive a guiding device engaged with the electrode wire to move in a direction approaching the target along the longitudinal direction of the actuator at a first speed, so that the guiding device together with the electrode wire enters the target; and a longitudinal position adjusting mechanism configured to adjust the position of the actuator along the longitudinal direction at a second speed, so that the guiding device approaches a target implantation area of the target along the longitudinal direction, wherein the first speed is greater than the second speed.

[0009] According to a fourth aspect of the present disclosure, there is provided a method for operating the system according to the present disclosure. The method includes the following steps: arranging the electrode wire on an electrode wire support; identifying, by a processing device, a relative position between a free end of the electrode wire and a needle tip portion of an implant needle based on the first image and the second image, and controlling the movement of the implant device and / or the electrode wire support based on the relative position, so that the needle tip portion of the implant needle is aligned with the free end of the electrode wire along the longitudinal direction; moving the implant needle along the longitudinal direction of the implant device through an implant feeding mechanism to engage with the free end of the electrode wire, and separating the electrode wire from the electrode wire support; identifying, by the processing device, an implantable area of the brain based on the third image, and determining a target position for implantation in the implantable area; controlling, by the processing device, the movement of the implant device, so that the needle tip portion of the implant needle is aligned with the target position at a specific angle for the implant feeding mechanism; driving, through the implant feeding mechanism, the implant feeding mechanism to move the implant needle together with the electrode wire to a predetermined distance from the surface of the target position; and driving, through an implant actuator, the implant needle together with the electrode wire to move forward. Description of the Drawings

[0010] The drawings forming a part of the specification depict embodiments of the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0011] Figures 1 to 3 is a schematic perspective view of different perspectives of a system for implanting an electrode wire according to an embodiment of the present disclosure.

[0012] Figure 4 is a schematic view of an implant device or an actuator and an arc-shaped guide rail for adjusting the orientation of the implant device or the actuator according to an embodiment of the present disclosure.

[0013] Figure 5 is a detailed schematic perspective view of an implant device or an actuator according to an embodiment of the present disclosure.

[0014] Figure 6 is Figure 5 a side view of the implant device or the actuator in

[0015] Figure 7 is Figure 5A detailed schematic perspective view of the implantation needle and the second implantation carrier for fixing the implantation needle therein.

[0016] Figures 8A to 8E It is a schematic diagram of the wire electrode guiding and spraying steps in the method for operating the system according to the present disclosure according to an embodiment of the present disclosure.

[0017] Figure 9 It is a schematic diagram of the spatial arrangement of the vision module according to an embodiment of the present disclosure.

[0018] Note that in the embodiments described below, sometimes the same reference numerals are commonly used between different drawings to denote the same parts or parts having the same functions, and their repeated descriptions are omitted. In some cases, similar reference numerals and letters are used to denote similar items. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0019] For ease of understanding, the positions, dimensions, ranges, etc. of the various structures shown in the drawings and the like sometimes do not represent the actual positions, dimensions, ranges, etc. Therefore, the present disclosure is not limited to the positions, dimensions, ranges, etc. disclosed in the drawings and the like. Detailed Embodiments

[0020] The present disclosure will be described below with reference to the drawings, in which several embodiments of the present disclosure are shown. However, it should be understood that the present disclosure can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present disclosure more complete and fully explain the protection scope of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0021] It should be understood that the terms used herein are only for describing specific embodiments and are not intended to limit the scope of the present disclosure. All terms used herein (including technical terms and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. For simplicity and / or clarity, well-known functions or structures may not be described in detail.

[0022] As used herein, when an element is referred to as being "on", "attached" to, "connected" to, "coupled" to, or "in contact" with another element, etc., the element can be directly on, attached to, connected to, coupled to, or in contact with the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly" on, "directly attached" to, "directly connected" to, "directly coupled" to, or "directly in contact" with another element, there will be no intervening elements. As used herein, a feature being arranged "adjacent" to another feature may mean that the feature has a portion that overlaps with the adjacent feature or a portion that is above or below the adjacent feature.

[0023] As used herein, there may be references to elements or nodes or features that are "coupled" together. Unless otherwise expressly stated, "coupled" means that an element / node / feature can be connected to another element / node / feature in a direct or indirect manner mechanically, electrically, logically, or otherwise to allow interaction, even if the two features may not be directly connected. That is, "coupled" is intended to encompass both direct and indirect connections of elements or other features, including connections using one or more intervening elements.

[0024] As used herein, spatial relationship terms such as "above", "below", "left", "right", "front", "rear", "high", "low", etc. may describe the relationship of one feature to another feature in the drawings. It should be understood that the spatial relationship terms include, in addition to the orientation shown in the drawings, different orientations of the device during use or operation. For example, when the device in the drawing is inverted, a feature that was originally described as "below" other features may then be described as "above" the other features. The device can also be oriented in other ways (rotated 90 degrees or in other orientations), and the relative spatial relationships will be correspondingly interpreted.

[0025] As used herein, the phrase "A or B" includes both "A and B" as well as "A or B", rather than exclusively including only "A" or only "B", unless otherwise specifically stated.

[0026] As used herein, the term "exemplary" means "serving as an example, instance, or illustration", rather than a "model" to be precisely replicated. Any implementation described herein as exemplary is not necessarily to be construed as preferred or advantageous over other implementations. Moreover, the present disclosure is not limited by any theory, whether expressed or implied, given in the above technical field, background art, summary of the invention, or detailed description.

[0027] As used herein, the term "substantially" means including any minor variations due to design or manufacturing defects, tolerances of components or elements, environmental effects, and / or other factors. The term "substantially" also permits differences from perfect or ideal situations due to parasitic effects, noise, and other practical considerations that may exist in an actual implementation.

[0028] Additionally, for reference purposes only, terms such as "first", "second", etc. may also be used herein and are not intended to be limiting. For example, unless the context clearly indicates otherwise, the words "first", "second", and other such numerical words referring to structures or elements do not imply an order or sequence.

[0029] It should also be understood that when the term "comprising / including" is used herein, it indicates the presence of the stated features, steps, operations, units, and / or components, but does not exclude the presence or addition of one or more other features, steps, operations, units, and / or components and / or their combinations.

[0030] Figures 1 to 3 A schematic perspective view showing different perspectives of a system for implanting an electrode wire 1 according to an embodiment of the present disclosure. Figure 4 A schematic view showing an implant device 100 or actuator according to an embodiment of the present disclosure and an arcuate guide rail 220 for adjusting the orientation of the implant device 100 or actuator. Figure 5 A detailed schematic perspective view showing an implant device 100 or actuator according to an embodiment of the present disclosure. Figure 6 Shows Figure 5 A side view of the implant device 100 or actuator in Figure 7 Shows Figure 5 A detailed schematic perspective view of the implant needle 110 and a second implant carrier 134 for fixing the implant needle 110 in

[0031] As shown in the figure, the system for implanting the electrode wire 1 according to the present disclosure includes an implanting device 100. The implanting device 100 may include an implanting needle 110, an implanting feeding mechanism 120, and an implanting execution mechanism 130. The implanting needle 110 may be configured to engage the free end of the electrode wire 1 with its needle tip portion 111 so as to drive the movement of the electrode wire 1. The implanting feeding mechanism 120 may be configured to move the implanting needle 110 along the longitudinal direction of the implanting device 100. The implanting execution mechanism 130 may be configured to drive the implanting needle 110 to pierce the needle tip portion 111 of the implanting needle 110 into the brain. In addition, the system for implanting the electrode wire 1 further includes an implanting movement mechanism, which is arranged in cooperation with the implanting device 100. The implanting movement mechanism may be configured to enable the implanting device 100 to implant the electrode wire 1 from different angles and in different orientations. In other words, the system for implanting a biological electrode into a target according to the present disclosure includes an execution mechanism, which is configured to drive the movement of a guiding device engaged with the biological electrode so that the guiding device together with the biological electrode enters the target. The guiding device may be configured as the implanting needle 110. The target may include the brain. The target may include a non-planar surface. For example, the target may be the brain surface. The biological electrode may include a flexible electrode wire 1 (or a filamentous flexible electrode). The system for implanting a biological electrode into a target further includes a position adjustment mechanism and an orientation adjustment mechanism. The position adjustment mechanism is configured to adjust the position of the execution mechanism so that the guiding device approaches the target implantation area of the target. The orientation adjustment mechanism is configured to adjust the orientation of the execution mechanism so that the guiding device can enter the target at a specific angle relative to the surface of the target implantation area in the target implantation area.

[0032] As Figures 1 to 3 shown, the implanting movement mechanism includes a robotic arm 210 that can move freely in space. The robotic arm 210 may be a common multi-axis robotic arm 210. Six degrees of freedom or seven degrees of freedom can be achieved through the robotic arm 210. As Figure 4 shown, the implanting movement mechanism may further include an arc-shaped guide rail 220, and the implanting device 100 can slide on the arc-shaped guide rail 220. A chute (not shown) may be provided on the arc-shaped guide rail 220. A slider cooperating with the chute is provided at the end of the implanting device 100 facing away from the implanting needle 110. Through the slider, the implanting device 100 can slide along the arc-shaped track on the arc-shaped guide rail 220. The arc-shaped guide rail 220 can rotate around an axis of rotation that is normal to the arc of the arc-shaped guide rail 220 and extends through the center of the arc-shaped guide rail 220. Thus, by combining the rotation of the arc-shaped guide rail 220 with the sliding of the implanting device 100 on the arc-shaped guide rail 220, the implanting device 100 can be basically oriented in any orientation within a hemispherical region. Here, at least one of the robotic arm 210 and the arc-shaped guide rail 220 may be provided. In Figures 1 to 3In the figure, an embodiment is shown in which only the robotic arm 210 is provided. Those skilled in the art should understand that in other embodiments, only the arc-shaped guide rail 220 may be provided, or both the robotic arm 210 and the arc-shaped guide rail 220 may be provided simultaneously. When both the robotic arm 210 and the arc-shaped guide rail 220 are provided, the implant device 100 can be connected to the robotic arm 210 via the arc-shaped guide rail 220. By directly arranging the implant device 100 on the arc-shaped guide rail 220, the device that generates angular change movement can be closer to the execution terminal, i.e., the implant needle 110, from the perspective of the error chain, thereby effectively controlling the angular change error.

[0033] At least part of the position adjustment mechanism can be implemented as the robotic arm 210. The position adjustment mechanism can include a position coarse adjustment module and a position fine adjustment module. At least part of the orientation adjustment mechanism and the position coarse adjustment module can be implemented as the robotic arm 210. Thus, on the one hand, the robotic arm 210 can achieve the translation or position coarse adjustment of the entire assembly arranged on the robotic arm 210 and the guiding device belonging to this assembly in all directions, and on the other hand, it can achieve the adjustment of the orientation of the guiding device. The position fine adjustment module can include a micro motor. The micro motor can be arranged at the end of the guiding device or the implant needle 110 close to the target. For example, the needle tip portion 111 of the implant needle 110 can be equipped with a micro motor, and the micro motor can move the needle tip portion 111 in the lateral direction of the implant device 100. Thus, after the position coarse adjustment and orientation adjustment are performed by the robotic arm 210, the position of the guiding device can be finely adjusted according to the specific situation of the target by the micro motor on the guiding device to accurately guide and implant. To achieve the adjustment of the orientation, the orientation adjustment mechanism can further include an arc-shaped guide rail 220, and the first end of the actuator away from the guiding device is installed on the arc-shaped guide rail 220 so that the orientation adjustment mechanism adjusts the orientation of the actuator. The arc-shaped guide rail 220 can rotate around its rotation axis as described above. The orientation adjustment mechanism, such as the arc-shaped guide rail 220, can be provided on the position adjustment mechanism so that the position adjustment mechanism adjusts the position of the actuator by adjusting the position of the orientation adjustment mechanism. In Figures 1 to 3In the illustrated embodiment, the actuating mechanism is fixedly arranged on the back plate 230, and the back plate 230 is mounted on the robotic arm 210. The system for implanting the electrode wire 1 includes an electrode wire 1 support that can receive the electrode wire 1. The electrode wire 1 support is arranged on the carrier frame 240, and the carrier frame 240 is fixed on the back plate 230. The electrode wire 1 support is movably arranged on the carrier frame 240. The electrode wire 1 support is connected to the carrier frame 240 by a planar motion mechanism configured to move in both a direction substantially parallel to the back plate 230 and a direction substantially perpendicular to the back plate 230. In other words, the electrode fixing device 300 for fixing the electrode can be arranged on the lateral adjustment module 250 such that the electrode fixing device 300 can move in the lateral direction, and the lateral adjustment module 250 can move on the longitudinal adjustment module, whereby the electrode fixing device 300 can generally move in the lateral and longitudinal directions. In this case, the actuating mechanism is fixed in the frame structure mounted on the robotic arm 210, while the electrode fixing device 300 for fixing the electrode is movable to adjust the relative position between the actuating mechanism and the electrode. In other embodiments, the position adjustment mechanism may further include a longitudinal adjustment module and the lateral adjustment module 250. Among them, the longitudinal adjustment module is configured to adjust the position of the actuating mechanism along the longitudinal direction of the actuating mechanism so that the guiding device approaches the target implantation area along the longitudinal direction; and the lateral adjustment module 250 is configured to adjust the position of the actuating mechanism in a plane perpendicular to the longitudinal direction so that the guiding device approaches the target implantation area along the lateral direction. The actuating mechanism can be arranged on the longitudinal adjustment module, and the longitudinal adjustment module can move on the lateral adjustment module 250, or the actuating mechanism can be arranged on the lateral adjustment module 250, and the lateral adjustment module 250 can move on the longitudinal adjustment module. In this case, the actuating mechanism is movable in the frame structure, while the electrode fixing device 300 for fixing the electrode can be fixed. By arranging the actuating mechanism on the longitudinal adjustment module or the lateral adjustment module 250, sufficient installation space can be provided for the installation of the arc-shaped guide rail 220. Of course, when the actuating mechanism is fixedly arranged on the frame structure, in order to provide installation space for the installation of the arc-shaped guide rail 220, a fixing member can protrude perpendicular to the back plate 230, and the arc-shaped guide rail 220 can be rotatably mounted on the fixing member. The lateral adjustment module 250 and / or the longitudinal adjustment module can be configured as a motor, such as a stepper motor.

[0034] In Figures 1 to 3 the illustrated embodiment, the needle portion 111 of the implanting device 100 is arranged on the slide plate, and the slide plate can be quickly moved on the slide rail by the implanting actuating mechanism 130 to perform the implanting operation. In Figures 5 to 7Another embodiment of the implant device 100 is shown. In this other embodiment, the implant device 100 may further include a first implant carrier 133 for arranging the implant actuator 130, and the first implant carrier 133 is capable of linear movement through the implant feeding mechanism 120. The implant feeding mechanism 120 may include a first guide block 121 and a first linear guide rail 122. The first guide block 121 is capable of linear movement on the first linear guide rail 122. The first guide block 121 is capable of linear movement on the first linear guide rail 122 via a transmission mechanism that can convert rotational motion into the linear motion of the first guide block 121. The implant feeding mechanism 120 may be configured as a stepper motor. The transmission mechanism may be configured as a screw transmission mechanism 123. The first implant carrier 133 is integrally constructed with the first guide block 121 of the implant feeding mechanism 120. The first implant carrier 133 may also be detachably arranged on the first guide block 121 of the implant feeding mechanism 120. The first implant carrier 133 may be, for example, threadedly connected to the first guide block 121 of the implant feeding mechanism 120. The implant device 100 may further include a second implant carrier 134 for fixing the implant needle 110, and the implant actuator 130 is capable of driving the second implant carrier 134 to perform linear movement so as to insert the needle part 111 of the implant needle 110 into the brain. The implant actuator 130 may be configured as a high-speed drive motor to drive the second implant carrier 134 to perform a high-speed implant operation by magnetic force. The second implant carrier 134 is provided with a second guide block 131 and a second linear guide rail 132. The second guide block 131 is capable of linear movement on the second linear guide rail 132, and the second implant carrier 134 is arranged on the second guide block 131, so that the second implant carrier 134 performs linear movement in a guided manner via the second guide block 131 on the second linear guide rail 132 when driven by the implant actuator 130. The implant actuator 130 may be configured as an electromagnetic actuator that can drive the second implant carrier 134 together with the second guide block 131 to move a defined stroke on the second linear guide rail 132, so that the needle part 111 moves a defined stroke. The implant actuator 130 may also be configured as a pneumatic actuator. A stop portion is provided on the second linear guide rail 132, and the pneumatic actuator can drive the second implant carrier 134 together with the second guide block 131 to move on the second linear guide rail 132 until the second guide block 131 stops at the stop portion, so that the needle part 111 moves a defined stroke. The implant feeding mechanism 120 configured as a stepper motor and the transmission screw can move the entire implant actuator 130 downward to a specified height, and then the implant actuator 130 drives the implant needle 110 to perform electrode implantation. After the implantation is completed, the implant feeding mechanism 120 sends the implant needle 110 back up to the initial height.

[0035] ByFigure 7 It can be clearly seen that the second implantation carrier 134 may include an implant needle fixing block 135, and the implant needle 110 can be detachably fixed to the implant needle fixing block 135. The implant needle 110 may be constructed in two parts. The implant needle 110 may include a needle tube portion 112 and a needle tip portion 111. The needle tip portion 111 may be fixed to the end of the needle tube portion 112 or embedded in the needle tube portion 112. The implant needle 110 can be fixed to the implant needle fixing block 135 via an adapter. Wherein, the end of the needle tube portion 112 facing away from the needle tip portion 111 can be fixed to the implant needle fixing block 135 via the adapter, and the fixing method can adopt screw fixing and epoxy resin fixing methods. The implant needle 110 can be connected to the adapter in a material-locking manner. Wherein, the adapter and the needle tube portion 112 can be connected, for example, by bonding, welding, etc.

[0036] In order to insert the needle tip portion 111 into the brain, the implantation actuator 130 can insert the needle tip portion 111 into the brain at a speed between 0.5 m / s and 5 m / s or between 0.01 m / s and 10 m / s. In one example, before performing a brain nerve implantation, the implantation target needs to be anesthetized; after shaving the scalp and opening the scalp to expose the skull, a cranial window is opened in the target implantation area to form a brain window; then the dura mater within the range of the brain window is removed to expose the brain surface. The implantation actuator 130 can drive the needle tip portion 111 to move towards the target implantation area at a speed greater than or equal to 1 m / s, so that the needle tip portion 111 can puncture the pia mater and enter the target implantation area. In one example, the dura mater within the range of the brain window may not be removed. Instead, a fixed-point dura mater opening is made at the target implantation site. For example, ablation means such as pulsed electric field ablation (PFA), thermal ablation, microwave ablation, light wave ablation, radiofrequency ablation, laser ablation, cryoablation, etc. can be used as the opening technology. Among them, preferably, the pulsed electric field ablation method is used. Because compared with other ablation methods, pulsed electric field ablation is a non-contact, non-thermal, and specific ablation method. Then, the implantation actuator 130 can drive the needle tip portion 111 to move towards the opened implantation site for implantation. The movement speed can be equal to or preferably slightly higher than the movement speed of the needle tip portion 111 when the dura mater is removed. In one example, the above two methods may not be adopted. Instead, the outer plate of the skull (the part of the compact bone of the calvaria) of the implantation target is ground away, for example, the outer plate of the skull in the target implantation area is ground away with a surgical cranial drill, but the brain surface is not exposed. The implantation actuator 130 can drive the needle tip portion 111 to move towards the target implantation area at a speed greater than or equal to 3 m / s, so that the needle tip portion 111 can puncture the thinned skull and enter the target implantation area.

[0037] When performing implantation, it is necessary to control the implantation depth. Two parameters related to the implantation depth are the initial implantation position (referring to the position along the z-axis of the implantation device 100) and the implantation stroke. The implantation stroke is achieved by the defined stroke generated by the electromagnetic actuator or the pneumatic actuator itself as described above. The initial implantation position can be reflected as the distance between the tip of the needle portion 111 and the brain surface. To determine this distance, the system according to an embodiment of the present disclosure may include a brain surface detection device that can detect the contact of the conductive needle portion 111 with the brain surface. The brain surface detection device may include a detection circuit. The needle portion 111 is connected to the detection circuit, and another part of the organism to be implanted is connected to the circuit. A voltage measuring device is connected to the circuit. When the needle portion 111 contacts the brain surface, the circuit is turned on, and the voltage measuring device measures the voltage to indicate that the needle portion 111 contacts the brain surface. After the needle portion 111 contacts the brain surface, the implantation feeding mechanism 120 is controlled to retract the implantation needle 110 by a predetermined distance, so that the tip of the needle portion 111 of the implantation needle 110 is located at a predetermined distance from the brain surface, that is, at the initial position. This predetermined distance d can be determined according to the depth D that the tip of the needle portion 111 needs to enter the target implantation area and the defined stroke S of the electromagnetic / pneumatic actuator, that is, d = S - D. The depth D that the tip of the needle portion 111 needs to enter the target implantation area can be determined according to the depth at which the electrode needs to be implanted and the position where the electrode is joined to the needle portion 111.

[0038] In other words, the system for implanting the electrode wire 1 into the target according to an embodiment of the present disclosure includes an implantation subsystem. The implantation subsystem includes: an actuator configured to drive a guiding device engaged with the electrode wire 1 to move in the longitudinal direction of the actuator at a first speed in a direction close to the target, so that the guiding device together with the electrode wire 1 enters the target; and a longitudinal position adjustment mechanism configured to adjust the position of the actuator at a second speed in the longitudinal direction, so that the guiding device approaches the target implantation area of the target in the longitudinal direction, where the first speed is greater than the second speed. The actuator is further configured to drive the guiding device that has entered the target to retract in the longitudinal direction at a third speed in a direction away from the target, so that the guiding device exits the target. Here, both the first speed and the third speed are between 0.5 m / s and 5 m / s, or between 0.01 m / s and 10 m / s. As described above, different speeds can be set as needed to achieve soft meningeal puncture, dura mater puncture, and thin skull puncture. The acceleration at which the actuator drives the guiding device to retract is between 25 m / s 2 to 35 m / s 2During the time, the guiding device is withdrawn with a larger acceleration, which is conducive to the electrode being separated from the guiding device, and the electrode is avoided to be taken out when the guiding device is withdrawn from the target implantation area. The actuator may include an electromagnetic actuation module, a high-speed motor actuation module, or a pneumatic module. The actuator is also configured to drive the guiding device to move along a specific stroke in the longitudinal direction, and the implantation subsystem also includes: an implantation depth control module, which is configured to control the longitudinal position adjustment mechanism so that the tip of the guiding device is located at a predetermined distance from the surface of the target implantation area, and then control the actuator to drive the guiding device to move. The implantation depth control module is also configured to control the longitudinal position adjustment mechanism so that the guiding device approaches the target implantation area until the tip of the guiding device contacts the surface of the target implantation area and stops, and then control the longitudinal position adjustment mechanism to withdraw the guiding device by a predetermined distance, so that the tip of the guiding device is located at a predetermined distance from the surface of the target implantation area. The implantation depth control module detects that the tip of the guiding device contacts the surface of the target implantation area through a detection circuit that is turned on when the tip of the guiding device contacts the surface of the target implantation area.

[0039] In addition, the implantation subsystem further includes: an orientation adjustment mechanism, which is configured to adjust the orientation of the actuator so that the guide device can enter the target object at a specific angle relative to the surface of the target implantation area at the target implantation area of the target object. Similar to the above, the implantation subsystem further includes: a lateral position adjustment mechanism, which is configured to adjust the position of the actuator on a plane perpendicular to the longitudinal direction so that the guide device is aligned with the target implantation area. The implantation subsystem may also include an electrode fixing device 300, which is configured to detachably fix the electrode wire 1 on its surface close to the target object. In this embodiment, the guide device is movable, and the motor electrode fixing device 300 may be fixed. In other embodiments, the electrode fixing device 300 may also be equipped with a lateral position adjustment mechanism, so that the electrode fixing device 300 adjusts its position on a plane perpendicular to the longitudinal direction, while the position of the actuator may be fixed. The lateral position adjustment mechanism may have an adjustment accuracy of less than 4μm. Both of the above embodiments can realize the change of the relative position between the actuator and the electrode fixing device 300. Of course, in other embodiments, the electrode fixing device 300 and the actuator may also be configured to be movable.

[0040] Reference is made here to describing the electrode wire guiding step in the method for operating the system according to the present disclosure according to an embodiment of the present disclosure. Figures 8A to 8C, it can be seen that the electrode fixing device 300 includes a support plate 310, and the support plate 310 can detachably fix the electrode substrate 320 on its surface close to (or facing) the target. The electrode wire 1 can be adhered to the electrode substrate 320, and thus fixed on the support plate 310. Since the electrode wire 1 has great flexibility and small mechanical strength and is not convenient to be fixed on the support plate 310, the electrode substrate 320 with a hardness higher than that of the electrode wire 1 can be used. The electrode substrate 320 can be made of a polymer and is manufactured together with the electrode wire 1 to provide limitation and support for the electrode wire 1 before being implanted into the target. In implementation, multiple electrode wires 1 are usually formed in batches. Such multiple electrode wires 1 can be formed to be adhered side by side on the electrode substrate 320. According to the implantation requirement, one of the multiple electrode wires 1 can be implanted into the target, or multiple electrode wires 1 among the multiple electrode wires 1 can be implanted into the target in sequence.

[0041] The implantation subsystem may further include: an electrode position adjustment mechanism configured to adjust the position of the electrode fixing device 300 along a plane perpendicular to the longitudinal direction, so that during the process that the guiding device moves from the first side away from the target of the electrode fixing device 300 to the second side close to the target of the electrode fixing device 300 along the longitudinal direction, it can be engaged with the electrode wire 1 fixed on the electrode fixing device 300. A loop, such as a circular loop, an elliptical loop, a semi-circular loop, a rectangular loop, etc., can be provided at the free end of the electrode wire 1, and the tip of the implantation needle 110 or the guiding device can pass through the loop to engage the free end of the electrode wire 1.

[0042] When the implantation needle 110 or the guiding device is engaged with the electrode wire 1, it is necessary to observe and position the joint part at the front end of the electrode wire 1 and the tip of the implantation needle 110. As Figures 1 to 3As shown, the system for implanting the electrode wire 1 according to an embodiment of the present disclosure may further include: a first light source 410 for providing a first light suitable for observing the implanting needle 110 and the free end of the electrode wire 1; a second light source 420 for providing a second light suitable for observing the brain surface; a first camera 430 configured to acquire a first image of the needle tip portion 111 and the free end of the electrode wire 1 with the assistance of the first light; a second camera 440 configured to acquire a second image of the needle tip portion 111 and the free end of the electrode wire 1 with the assistance of the first light, wherein the optical paths of the first camera 430 and the second camera 440 are angled with respect to each other; a brain surface camera 450 configured to acquire a third image of the brain surface with the assistance of the second light; and a processing device configured to identify the relative positions of the needle tip portion 111 and the free end of the electrode wire 1 based on the first image and the second image, and identify the implantable region of the brain surface based on the third image. The first light includes one or more of white light, blue light, red light, infrared light, and near-ultraviolet light, and / or the second light includes green light. The first camera 430 and the brain surface camera 450 may be arranged on the back plate 230. The second camera 440 may be arranged on a first carrying section of the carrying frame 240 opposite to and substantially parallel to the back plate 230. The first camera 430 and / or the second camera 440 are configured to be position-adjustable so as to adjust their positions such that the needle tip portion 111 and the free end of the electrode wire 1 are presented in their fields of view with observable clarity. The first camera 430 and the second camera 440 may be arranged such that the optical paths of the first camera 430 and the second camera 440 converge at the free end of the electrode wire 1. As Figure 9 As shown, it is assumed that the observation target (the end of the electrode wire 1) is located at the origin O of the coordinate system in the figure. The first camera 430 and the second camera 440 need to observe the target simultaneously. The optical paths of the first camera 430 and the second camera 440 show the observation directions of the two cameras. The first camera 430 and its lens may be arranged in the XZ plane, and the second camera 440 and its lens are arranged in the YZ plane. The initial set angle between the optical path of the first camera 430 and the X-axis may be 45°, and can be adjusted according to the user's requirements. The initial set angle between the optical path of the second camera 440 and the Y-axis may also be 45°, and can be adjusted according to the user's requirements.

[0043] In other words, the system for implanting the electrode wire 1 according to an embodiment of the present disclosure may further include an observation subsystem, and the observation subsystem includes: a vision module 400 configured to acquire a first image of an end of the guiding device for engaging the electrode wire 1 and an end of the electrode wire 1 fixed to the electrode fixing device 300 for engaging the guiding device; and an operation control module configured to recognize the relative position between the end of the guiding device and the end of the electrode wire 1 based on the first image, and control the electrode position adjustment mechanism to adjust the position of the electrode fixing device 300 and / or control the lateral position adjustment mechanism to adjust the position of the actuator based on the recognition result, so that during the process of the guiding device moving longitudinally from the first side to the second side of the electrode fixing device 300, the end of the guiding device can be engaged with the end of the electrode wire 1 fixed to the electrode fixing device 300. The vision module 400 is further configured to acquire a second image of the target object, and the operation control module is further configured to recognize the target implantation area of the target object based on the second image, and control the lateral position adjustment mechanism to adjust the position of the actuator based on the recognition result, so that the guiding device is aligned with the target implantation area.

[0044] As Figures 1 to 3 shown, the system for implanting the electrode wire 1 may further include a spraying device 500, and the spraying device 500 is configured to keep the brain surface and / or the surrounding environment moist and / or make the electrode wire 1 adhere to the implanting needle 110. In other words, the system for implanting the electrode wire 1 into the target object may further include an auxiliary subsystem, and the auxiliary subsystem includes: a first spraying device arranged near the target object and configured to provide spraying to keep the surface of the target object and / or the surrounding environment moist; and / or a second spraying device arranged near the joint of the guiding device and the electrode wire 1 and configured to apply spraying to the electrode wire 1 so that the electrode wire 1 adheres to the guiding device.

[0045] Figures 8A to 8E is a schematic diagram of the electrode wire guiding and spraying steps in the method for operating the system according to the present disclosure according to an embodiment of the present disclosure. The following will be described with reference to FIGS. 8A to Figure 8CA method for operating a system according to an embodiment of the present disclosure is described. The method includes the following steps: arranging the electrode wire 1 on the electrode wire 1 support; the processing device identifying the relative position between the free end of the electrode wire 1 and the needle tip portion 111 of the implantation needle 110 based on the first image and the second image, and controlling the movement of the implantation device 100 and / or the electrode wire 1 support based on the relative position so that the needle tip portion 111 of the implantation needle 110 is aligned with the free end of the electrode wire 1 in the longitudinal direction; moving the implantation needle 110 along the longitudinal direction of the implantation device 100 through the implantation feeding mechanism 120 to engage with the free end of the electrode wire 1 and detaching the electrode wire 1 from the electrode wire 1 support; the processing device identifying the implantable area of the brain based on the third image and determining the target implantation position in the implantable area; the processing device controlling the movement of the implantation device 100 so that the needle tip portion 111 of the implantation needle 110 is aligned with the target position at a specific angle for the implantation feeding mechanism 120; the implantation feeding mechanism 120 moving the implantation feeding mechanism 120 so that the implantation needle 110 drives the electrode wire 1 to move to a predetermined distance from the surface of the target position; and driving the implantation needle 110 together with the electrode wire 1 to move forward through the implantation execution mechanism 130. After the implantation needle 110 completes the implantation operation, the implantation needle 110 can be driven to retract by the implantation execution mechanism 130. Arranging the electrode wire 1 on the electrode wire 1 support includes: arranging the head section of the electrode wire 1 on the electrode wire 1 support and making the head end of the electrode wire 1 extend out of the electrode wire 1 support to become the free end; and making the partial section between the tail section for connecting with the circuit of the electrode wire 1 and the head section be suspended in a non-tensioned state.

[0046] As Figure 8A shown, the front section of the electrode wire 1 is arranged on the electrode fixing device 300, and the joint portion at the front end of the electrode wire 1 extends out of the electrode fixing device 300 to facilitate engagement with the guiding device. After the electrode wire 1 is fixed on the electrode fixing device 300, there is a partial section (hereinafter referred to as the "rear section") suspended in a non-tensioned state (the "suspended portion" shown in the figure) between the rear section for connecting with the circuit of the electrode wire 1 and the front section.

[0047] The actuator can be roughly positioned on the extension line of implanting the target object into the electrode fixing device 300 and drive the guiding device for guiding the electrode wire 1 to move roughly towards the target object. As shown in the figure, the guiding device can include a needle tip portion 111 located at the end of the guiding device and a needle tube portion 112 for mounting the needle tip portion 111. The needle tip portion 111 can be mounted on the needle tube portion 112 by, for example, bonding or socketing. The actuator can be positioned at the top end of the needle tube portion 112, so as to drive the needle tip portion 111 by driving the movement of the needle tube portion 112. After the guiding device is engaged with the joint portion of the electrode wire 1 fixed on the electrode fixing device 300, the actuator drives the guiding device to continue to move downward, for example, to pull the electrode wire 1, that is, to apply a pulling force to the front end of the electrode wire 1, so as to separate the electrode wire 1 from the electrode fixing device 300 at least partially, as Figure 8B shown. The guiding device can continue to move downward towards the target object under the drive of the actuator, so as to continue to apply a pulling force to the electrode wire 1 through the front end of the electrode wire 1, so that the electrode wire 1 can be completely separated from the electrode fixing device 300, as Figure 8C shown. Since the rear section of the electrode wire 1 is suspended (not tightly fixed on the electrode fixing device 300) and the rear section is in a non-tensioned state, after the electrode wire 1 is completely separated from the electrode fixing device 300, it is also suspended in a non-tensioned state between the front end and the rear end (not shown, referring to the end for connecting the circuit) of the electrode wire 1.

[0048] After the implanting needle 110 is engaged with the free end of the electrode wire 1, a spray is applied to the electrode wire 1 suspended beside the implanting needle 110 through the spraying device 500, so that the head section of the electrode wire 1 adheres to the implanting needle 110.

[0049] The spraying device 500 can be positioned to face the part of the electrode wire 1 separated from the electrode fixing device 300 (especially the section part near the front end) and face the guiding device, and the spraying device 500 can be positioned to be able to spray a liquid with a spraying force roughly pointing from the section part near the front end of the electrode wire 1 to the guiding device, as Figure 8D shown, so that at least the section part near the front end of the electrode wire 1 adheres to the guiding device under the action of the sprayed liquid, as Figure 8E shown. The spraying device 500 sprays the liquid in an atomized state. The sprayed liquid can include pure water or a solution suitable for the target object.

[0050] By means of the provided spraying device 500, at least the section of the electrode wire 1 near the front end is attached to the guiding device, which can avoid causing a large incision injury to the biological tissue of the target object. In addition, spraying a liquid can bring further technical effects. After the guiding device is joined to the joint of the electrode wire 1 fixed to the electrode fixing device 300 and the guiding device causes the electrode wire 1 to completely break away from the electrode fixing device 300, as Figure 8C shown, under the action of its own gravity, the electrode wire 1 may cause its joint to fall off the guiding device, resulting in the undesired separation of the electrode wire 1 from the guiding device. After spraying a liquid to attach the electrode wire 1 to the guiding device, even after the electrode wire 1 is in the Figure 8E state shown, the joint between the electrode wire 1 and the guiding device can be strengthened, avoiding the electrode wire 1 falling off the guiding device due to the self-gravity of the electrode.

[0051] In this embodiment, controlling the movement of the implantation device 100 includes: sliding the implantation device 100 on the arc-shaped guide rail 220 and rotating the arc-shaped guide rail 220 around a rotation axis that is normal to the arc of the arc-shaped guide rail 220 and passes through the center of the arc-shaped guide rail 220, and / or moving the robotic arm 210 that can move freely in space to change the orientation of the needle tip portion 111 of the implantation needle 110.

[0052] When observing the implantation device 100 and the electrode wire 1, the irradiation angle, irradiation intensity, and / or light source color of the first light source 410 can be adjusted, and the imaging parameters, position, and / or optical path direction of the first camera 430 and / or the second camera 440 can be adjusted so that the first camera 430 and the second camera 440 can obtain clear images respectively. In addition, the irradiation angle, irradiation intensity, and / or light source color of the second light source 420 can be adjusted, and the imaging parameters, position, and / or optical path direction of the brain surface camera 450 can be adjusted so that the brain surface camera 450 can obtain a clear image.

[0053] When controlling the movement of the implant device 100 by the processing device, the implant device 100 can be controlled to move longitudinally until the tip of the needle portion 111 touches the brain surface and stops, and the position of the tip of the needle portion 111 is marked in the third image as the initial position for subsequent control of the movement of the implant device 100 to align the needle portion 111 of the implant needle 110 with the target position. In addition, the implant device 100 can be controlled to move longitudinally until the tip of the needle portion 111 touches the brain surface and stops, and then the implant device 100 is controlled to retract longitudinally by the predetermined distance, so that the implant needle 110 drives the electrode wire 1 to a position at a predetermined distance from the surface of the target position. In order to determine that the tip of the needle portion 111 has touched the brain surface, a detection circuit that is turned on when the tip of the needle portion 111 touches the surface of the target position can be used to detect that the tip of the needle portion 111 touches the surface of the target position. Here, the XY position of the needle portion 111 can be finely adjusted by the micro-motor on the needle portion 111 to align the landing point with the point in the implantable area. After aligning the implant point, the implant feeding mechanism 120 in the implant device 100 makes the needle portion 111 slowly move towards the target position. After touching the brain surface, the implant needle 110 is retracted to a predetermined height, and then the implant execution mechanism 130 is driven to make the implant needle 110 implant quickly downward, where the predetermined height is related to the implant depth and the defined stroke of the implant execution mechanism 130. For example, when the implant depth is 2 mm and the defined stroke of the implant execution mechanism 130 is 5 mm, the implant needle 110 is lifted to a position where its tip is 3 mm away from the brain surface). Then, the implant needle 110 is retracted quickly, for example, at a speed of 30 m 2 / s, so that the electrode wire 1 is detached from the implant needle 110 and remains in the brain tissue. After the implant needle 110 is retracted, the needle portion 111 of the implant needle 110 can be cleaned. Then the electrode fixing device 300 can be moved to perform the next implantation.

[0054] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present disclosure. The various embodiments disclosed herein can be combined arbitrarily without departing from the spirit and scope of the present disclosure. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A system for implanting a bioelectrode into a target, comprising: An actuator configured to drive the movement of a guiding device engaged with the bioelectrode, so that the guiding device together with the bioelectrode enters the target; A position adjustment mechanism configured to adjust the position of the actuator, so that the guiding device approaches the target implantation area of the target; And An orientation adjustment mechanism configured to adjust the orientation of the actuator, so that the guiding device can enter the target at a specific angle relative to the surface of the target implantation area in the target implantation area, Wherein, the system further includes a spraying device configured to attach the bioelectrode to the guiding device.

2. The system according to claim 1, wherein, The orientation adjustment mechanism is implemented as a robotic arm.

3. The system according to claim 1 or 2, wherein At least part of the position adjustment mechanism is implemented as a robotic arm.

4. The system according to claim 1, wherein The position adjustment mechanism includes a coarse position adjustment module and a fine position adjustment module. Among them, at least part of the orientation adjustment mechanism and the coarse position adjustment module are implemented as robotic arms, and the fine position adjustment module includes a micro motor.

5. The system according to claim 1, wherein The orientation adjustment mechanism includes an arc-shaped guide rail, and the first end of the actuator away from the guiding device is installed on the arc-shaped guide rail, so that the orientation adjustment mechanism adjusts the orientation of the actuator.

6. The system according to claim 5, wherein, The arc-shaped guide rail is configured to be able to rotate around an axis normal to the arc of the arc-shaped guide rail and extending through the center of the arc-shaped guide rail.

7. The system according to claim 5, wherein, The orientation adjustment mechanism is arranged on the position adjustment mechanism, so that the position adjustment mechanism adjusts the position of the actuator by adjusting the position of the orientation adjustment mechanism.

8. The system according to claim 1 or 7, wherein The position adjustment mechanism includes a longitudinal adjustment module and a transverse adjustment module, wherein, The longitudinal adjustment module is configured to adjust the position of the actuator along the longitudinal direction of the actuator, so that the guiding device approaches the target implantation area along the longitudinal direction; and The transverse adjustment module is configured to adjust the position of the actuator in a plane perpendicular to the longitudinal direction, so that the guiding device approaches the target implantation area along the transverse direction.

9. The system according to claim 1, wherein The target includes the brain.

10. The system according to claim 1, wherein, The bioelectrode includes a filamentous flexible electrode.

11. A system for implanting an electrode wire into a target, comprising an implanting subsystem, the implanting subsystem including: An actuator configured to drive a guiding device engaged with the electrode wire to move in the longitudinal direction of the actuator at a first speed in a direction approaching the target, so that the guiding device together with the electrode wire enters the target; And A longitudinal position adjustment mechanism configured to adjust the position of the actuator at a second speed in the longitudinal direction, so that the guiding device approaches the target implantation area of the target along the longitudinal direction, Wherein, the first speed is greater than the second speed, and Wherein, the system further includes an auxiliary subsystem, the auxiliary subsystem including: A first spraying device arranged near the joint of the guiding device and the electrode wire, configured to apply a spray to the electrode wire, so that the electrode wire adheres to the guiding device.

12. The system according to claim 11, wherein, The actuator is further configured to drive the guiding device that has entered the target to retract in the longitudinal direction at a third speed in a direction away from the target, so that the guiding device exits the target.

13. The system according to claim 12, wherein, Both the first speed and the third speed are between 0.5 m / s and 5 m / s, or between 0.01 m / s and 10 m / s.

14. The system according to claim 12, wherein, The acceleration at which the actuator drives the guiding device to retract is between 25 m / s 2 and 35 m / s 2 .

15. The system according to claim 11 or 12, wherein, The actuator includes an electromagnetic actuation module, a high-speed motor actuation module, or a pneumatic module.

16. The system according to claim 11 or 12, wherein, The actuator is further configured to drive the guiding device to move longitudinally by a specific stroke, and the implant subsystem further includes: An implant depth control module configured to control the longitudinal position adjustment mechanism to position the tip of the guiding device at a predetermined distance from the surface of the target implant area, and then control the actuator to drive the guiding device to move.

17. The system according to claim 16, wherein, The implant depth control module is further configured to control the longitudinal position adjustment mechanism to bring the guiding device close to the target implant area until the tip of the guiding device touches the surface of the target implant area and stops, and then control the longitudinal position adjustment mechanism to retract the guiding device by a predetermined distance, so that the tip of the guiding device is located at a predetermined distance from the surface of the target implant area.

18. The system according to claim 17, wherein The implant depth control module detects that the tip of the guiding device touches the surface of the target implant area through a detection circuit that is turned on when the tip of the guiding device touches the surface of the target implant area.

19. The system according to claim 11 or 12, wherein, The implant subsystem further includes: An orientation adjustment mechanism configured to adjust the orientation of the actuator so that the guiding device can enter the target object at a specific angle relative to the surface of the target implant area in the target implant area of the target object.

20. The system according to claim 11 or 12, wherein, The implant subsystem further includes: A lateral position adjustment mechanism configured to adjust the position of the actuator in a plane perpendicular to the longitudinal direction to align the guiding device with the target implant area.

21. The system according to claim 20, wherein, The implant subsystem further includes: An electrode fixing device configured to detachably fix the electrode wire on its surface close to the target object.

22. The system according to claim 21, wherein, The electrode fixing device is configured to detachably fix the electrode substrate on its surface close to the target object, wherein the electrode wire is adhered to the electrode substrate and thus fixed on the electrode fixing device.

23. The system according to claim 22, wherein, The hardness of the electrode substrate is higher than that of the electrode wire.

24. The system according to claim 22, wherein There are multiple electrode wires to be implanted, and the multiple electrode wires are adhered to the electrode substrate side by side.

25. The system according to claim 21, wherein, The implant subsystem further includes: An electrode position adjustment mechanism configured to adjust the position of the electrode fixing device in a plane perpendicular to the longitudinal direction, so that the guiding device can be engaged with the electrode wire fixed on the electrode fixing device during the movement of the guiding device longitudinally from the first side away from the target object of the electrode fixing device to the second side close to the target object of the electrode fixing device.

26. The system according to claim 25, further comprising an observation subsystem, the observation subsystem including: A vision module configured to acquire a first image of the end of the guiding device for engaging the electrode wire and the end of the electrode wire fixed on the electrode fixing device for engaging the guiding device; And An arithmetic control module configured to recognize the relative position of the end of the guiding device and the end of the electrode wire based on the first image, and control the electrode position adjustment mechanism to adjust the position of the electrode fixing device and / or control the lateral position adjustment mechanism to adjust the position of the actuator based on the recognition result, so that the end of the guiding device can be engaged with the end of the electrode wire fixed on the electrode fixing device during the movement of the guiding device longitudinally from the first side to the second side of the electrode fixing device.

27. The system according to claim 26, wherein, the vision module is further configured to acquire a second image of the target object, the operation control module is further configured to identify the target implantation area of the target object based on the second image, and control the lateral position adjustment mechanism to adjust the position of the actuator based on the recognition result, so that the guiding device is aligned with the target implantation area.

28. The system according to claim 11, wherein, The auxiliary subsystem further includes: a second spraying device, which is arranged near the target object and is configured to provide spraying to keep the surface of the target object and / or the surrounding environment moist.

29. The system according to claim 11, wherein, The target object includes a non-flat surface.

30. The system according to claim 20, wherein The lateral position adjustment mechanism has an adjustment accuracy of less than 4 μm.

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