Xmr image-guided deep brain electrode implantation robot

Abstract

The application discloses an XMR image-guided brain deep electrode implanting robot, and aims at the low positioning accuracy of the existing device for assisting brain electrode implanting, wherein a first driving assembly is used to drive a first space movement assembly to realize reciprocating movement in the pitching direction, so that the positioning of the brain electrode in the first space is realized; the second space movement assembly is slidably connected with the first space movement assembly, and the brain electrode is installed on the second space movement assembly; a second driving assembly is used to drive the second space movement assembly to slide along the slide rail of the first space movement assembly, so that the positioning of the brain electrode in the second space is realized; the positioning of any point in the working space can be realized by using the rotation along two intersecting axial directions, and the positioning accuracy of the brain electrode is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to an XMR image-guided deep brain electrode implantation robot. BACKGROUND

[0002] Deep brain stimulation (DBS) technology is a reversible control method for brain, which implants electrodes into specific brain regions through surgery, sends electrical pulses of a certain frequency, and regulates abnormal brain discharges to improve or treat diseases. During DBS surgery, image equipment (in the nuclear magnetic resonance environment) is used to scan and image the brain to assist positioning, and then the electrodes are implanted.

[0003] At present, the device for assisting brain electrode implantation mostly adopts passive artificial placement of an arc-shaped frame (such as Leksell and CRW), but this method often fails to achieve high positioning accuracy. SUMMARY

[0004] The purpose of the present application is to provide an XMR image-guided deep brain electrode implantation robot, which can realize positioning of any point in the working space by rotating along two intersecting axis directions in space, and further improve the positioning accuracy of the robot for brain electrodes by fine adjustment through the addition of a micro-motion platform.

[0005] To solve the above problems, the technical scheme of the present application is as follows:

[0006] An XMR image-guided deep brain electrode implantation robot, comprising:

[0007] a base,

[0008] a first driving assembly fixed to the base;

[0009] a first spatial motion assembly connected with the first driving assembly and driven by the first driving assembly to perform reciprocating motion in the pitch direction, so as to realize positioning of the brain electrode in a first space; the first space is defined as a space in which a trajectory from the forehead of a patient along the head shape to the back of the brain is formed in the application scenario thereof;

[0010] a second spatial motion assembly in sliding connection with the first spatial motion assembly; the brain electrode is installed on the second spatial motion assembly;

[0011] a second driving assembly connected with the second spatial motion assembly and driving the second spatial motion assembly to slide along the sliding rail of the first spatial motion assembly, so as to realize positioning of the brain electrode in a second space; the second space is defined as a space in which a trajectory from the left ear of a patient along the head shape to the right ear is formed in the application scenario thereof.

[0012] According to an embodiment of the present application, the first spatial motion assembly comprises a first arc-shaped bridge, a second arc-shaped bridge, a bridge connecting piece, and a bridge fixing piece.

[0013] The bridge connecting piece connects the first arc-shaped bridge and the second arc-shaped bridge to form a bridge assembly.

[0014] The bridge assembly is rotationally connected to the bridge fixing piece.

[0015] The bridge fixing piece is fixedly arranged on the base.

[0016] According to an embodiment of the present application, the bridge connecting piece fixes the end portions of the first arc-shaped bridge and the second arc-shaped bridge.

[0017] According to an embodiment of the present application, the second arc-shaped bridge is connected to the first driving assembly, and the first driving assembly drives the second arc-shaped bridge to reciprocate in the pitch direction.

[0018] According to an embodiment of the present application, the upper surface and / or the lower surface of the first arc-shaped bridge is provided with a slide rail along the circumferential direction of the first arc-shaped bridge, and a motor seat is sleeved on the slide rail, and the motor seat slides on the slide rail through spherical balls.

[0019] The motor seat is fixed to the first arc-shaped bridge by screws, so that the motor seat and the spherical balls are in close contact with the slide rail, and the fitting gap between the motor seat and the first arc-shaped bridge is reduced.

[0020] According to an embodiment of the present application, an arc-shaped rack is fixed to the surface of the first arc-shaped bridge away from the second arc-shaped bridge, a reciprocating pneumatic motor is fixed in the motor seat, the reciprocating pneumatic motor is engaged with the arc-shaped rack, and the reciprocating pneumatic motor is pressed by a cover plate.

[0021] A micro-motion platform is fixed on the motor seat, and an electroencephalogram electrode is mounted on the bottom of the micro-motion platform to realize fine adjustment of the positioning of the electroencephalogram electrode.

[0022] During operation, the reciprocating pneumatic motor drives the motor seat to slide along the slide rail through the engagement with the arc-shaped rack, so as to drive the micro-motion platform to move along the slide rail.

[0023] According to an embodiment of the present application, the first driving assembly comprises a rotary pneumatic motor, a linear bearing, a trapezoidal screw rod, a trapezoidal nut, a motion base, and a guide rail shaft.

[0024] One end of the trapezoidal screw rod is connected to the output shaft of the rotary pneumatic motor, and the other end of the trapezoidal screw rod is connected to the trapezoidal nut.

[0025] The linear bearing is sleeved on the guide rail shaft.

[0026] The motion base is fixed on the linear bearing and connected with the trapezoidal nut;

[0027] In operation, the rotary pneumatic motor drives the trapezoidal screw to rotate forward and backward, thereby driving the motion base to make linear reciprocating motion on the guide rail shaft through the trapezoidal nut.

[0028] According to an embodiment of the present application, a connecting rod connector is fixed on the motion base and connected with the first spatial motion assembly through a connecting rod;

[0029] In operation, the linear reciprocating motion of the motion base drives the first spatial motion assembly to make reciprocating motion in the pitch direction.

[0030] According to an embodiment of the present application, the robot is a surgical robot suitable for working in a nuclear magnetic environment.

[0031] According to an embodiment of the present application, the material of the robot is any one of ceramic, nylon, polytetrafluoroethylene, polyoxymethylene resin and polyether ether ketone, which does not affect nuclear magnetic imaging.

[0032] The present application has the following advantages and positive effects compared with the prior art due to the adoption of the above technical solutions:

[0033] 1) The XMR image guided deep brain electrode implanting robot in an embodiment of the present application aims at the low positioning accuracy of the existing auxiliary brain electrode implanting device, and realizes the positioning of the brain electrode in the first space through the reciprocating motion of the first spatial motion assembly in the pitch direction, which is driven by the first driving assembly. The first space is defined as the space in which the trajectory from the forehead of the patient to the back of the brain along the head shape is formed. The second spatial motion assembly is slidingly connected with the first spatial motion assembly. The brain electrode is installed on the second spatial motion assembly. The second driving assembly is connected with the second spatial motion assembly and drives the second spatial motion assembly to slide along the slide rail of the first spatial motion assembly, thereby realizing the positioning of the brain electrode in the second space. The second space is defined as the space in which the trajectory from the left ear of the patient to the right ear along the head shape is formed. The robot can realize the positioning of any point in the working space by rotating along two intersecting axes in space, thereby improving the positioning accuracy of the brain electrode.

[0034] 2) The XMR image guided deep brain electrode implanting robot in an embodiment of the present application realizes the positioning of the robot main body by rotating along two spatial intersecting axes, and is further provided with a micro-motion platform for fine adjustment, thereby further improving the positioning accuracy.

[0035] 3) The XMR image-guided deep brain electrode implantation robot in an embodiment of the present application, the movement of the arc-shaped bridge in the pitch direction is driven by the trapezoidal screw mechanism, which can be driven by a smaller driving force, the movement control precision is improved by the deceleration characteristics of the trapezoidal screw transmission, and the locking state of the mechanism in the working position is maintained by the reverse self-locking characteristics of the trapezoidal screw.

[0036] 4) The XMR image-guided deep brain electrode implantation robot in an embodiment of the present application, the rotation of the arc-shaped bridge in the circumferential direction is driven by the arc-shaped rack transmission, that is, the tooth engagement of the reciprocating pneumatic motor installed in the motor seat.

[0037] 5) The XMR image-guided deep brain electrode implantation robot in an embodiment of the present application, the upper and lower surfaces of the arc-shaped bridge are provided with sliding rails, the sliding connection between the spherical ball and the motor seat is formed, and the gap between the motor seat and the arc-shaped bridge is eliminated by screwing the spherical ball to further improve the positioning precision. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a structure explosion diagram of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0039] Figure 2 It is an axial view of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0040] Figure 3 It is a front view of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0041] Figure 4 It is a side view of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0042] Figure 5 It is a schematic diagram of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0043] Figure 6 It is a schematic diagram of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0044] Figure 7 It is a schematic diagram of the XMR image-guided deep brain electrode implantation robot in an embodiment of the present application.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046] 1: public base; 2: fixed seat; 3: base; 4: rotating shaft; 5: bridge connecting piece; 6: first arc-shaped bridge; 7: arc-shaped rack; 8: reciprocating pneumatic motor; 9: cover plate; 10: motor seat; 11: spherical ball; 12: screw; 13: micro-motion platform; 14: second arc-shaped bridge; 15: connecting rod; 16: connecting rod connecting seat; 17: connecting rod pin; 18: moving base; 19: linear bearing; 20: support seat; 21: rotary pneumatic motor; 22: coupling; 23: trapezoidal screw; 24: guide rail shaft; 25: trapezoidal nut; 26: brain electrode. DETAILED DESCRIPTION

[0047] The XMR image-guided brain deep electrode implantation robot provided by the present application is further described in detail below in combination with the accompanying drawings and specific embodiments. The advantages and features of the present application will be more apparent according to the following description and claims.

[0048] The XMR image-guided brain deep electrode implantation robot provided by the present application comprises:

[0049] a base,

[0050] a first driving assembly fixed to the base;

[0051] a first spatial motion assembly connected with the first driving assembly and driven by the first driving assembly to perform reciprocating motion in the pitch direction, so as to realize positioning of the brain electrode in a first space; the first space is defined as a space in which a trajectory from the forehead of a patient along the head shape to the back of the brain is formed in the application scenario thereof;

[0052] a second spatial motion assembly in sliding connection with the first spatial motion assembly; the brain electrode is installed on the second spatial motion assembly;

[0053] a second driving assembly connected with the second spatial motion assembly and driving the second spatial motion assembly to slide along the sliding rail of the first spatial motion assembly, so as to realize positioning of the brain electrode in a second space; the second space is defined as a space in which a trajectory from the left ear of a patient along the head shape to the right ear is formed in the application scenario thereof.

[0054] The robot rotates along the axes of the two spaces (the first space and the second space), and utilizes the intersection point of the two spaces to perform positioning, so that positioning of any point in the working space can be realized, and the positioning accuracy of the brain electrode is improved.

[0055] Specifically, please refer to Figure 1The first spatial motion component of the XMR image-guided deep brain electrode implantation robot comprises a first arc-shaped bridge 6, a second arc-shaped bridge 14, a bridge connecting piece 5, and a bridge fixing piece. The bridge connecting piece 5 connects the first arc-shaped bridge 6 and the second arc-shaped bridge 14 to form a bridge assembly. The bridge assembly is rotatably connected to the bridge fixing piece. The bridge fixing piece is fixed to the common base 1.

[0056] The common base 1 has a first opening at one end, which is large enough to accommodate the head of a patient. Bridge fixing pieces are fixed on both sides of the first opening. The bridge fixing pieces comprise a fixed seat 2 and a base 3. The fixed seat 2 is fixed on both sides of the first opening, and the base 3 is fixed to the fixed seat 2. The base 3 is rotatably connected to the bridge connecting piece 5 through a rotating shaft 4, so that the bridge assembly can rotate along the rotating shaft 4.

[0057] The bridge connecting piece 5 fixes the ends of the first arc-shaped bridge 6 and the second arc-shaped bridge 14.

[0058] The upper surface and / or the lower surface of the first arc-shaped bridge 6 has a slide rail along the circumferential direction of the first arc-shaped bridge 6. A motor seat 10 is fitted on the slide rail and slides on the slide rail through spherical balls 11. The motor seat 10 has a semi-enclosed structure, comprising an upper end face, a lower end face, and a side face connecting the upper end face and the lower end face. A plurality of small holes are formed in the upper end face for embedding the spherical balls 11. The lower end face also has a plurality of small holes for embedding the spherical balls 11. The side face has a groove for accommodating a reciprocating pneumatic motor 8.

[0059] The motor seat 10 is fixed to the first arc-shaped bridge 11 by screws 12. Under the action of the screws 12, the motor seat 10 and the spherical balls 11 are pressed, so that the motor seat 10 and the spherical balls 11 are in close contact with the slide rail, reducing the fitting gap between the motor seat and the first arc-shaped bridge. At the same time, the spherical balls 11 form rolling friction in the upper and lower slide rails of the first arc-shaped bridge 6, reducing the friction of the motor seat 10 sliding on the first arc-shaped bridge 6, reducing the driving force required by the reciprocating pneumatic motor 8, making the movement of the motor seat 10 more stable, and improving the positioning accuracy.

[0060] The surface of the first arc-shaped bridge 6 away from the second arc-shaped bridge 14 is fixed with an arc-shaped rack 7. The motor seat 10 is fixed with a reciprocating pneumatic motor 8, which is engaged with the arc-shaped rack 7 and is pressed by a cover plate 9.

[0061] The upper end face of the motor seat 10 is fixed with a fine adjustment platform 13. The bottom of the fine adjustment platform 13 is installed with a brain electrode 26, realizing fine adjustment of the positioning of the brain electrode 26. The brain electrode 26 passes through the gap between the first arc-shaped bridge 6 and the second arc-shaped bridge 14 and points downward.

[0062] When working, the reciprocating pneumatic motor 8 drives the motor base 10 to slide along the slide rail and be locked through the engagement with the arc-shaped rack 7, so as to drive the micro-motion platform 13 to move along the slide rail, and further adjust the position of the brain electrode 26, and further improve the positioning accuracy of the brain electrode.

[0063] The second arc-shaped bridge 14 is connected with the first driving assembly, and is driven by the first driving assembly to perform reciprocating movement in the pitch direction.

[0064] The micro-motion platform 13, the motor base 10, the spherical ball 11 and the slide rail constitute a second spatial motion assembly, and the reciprocating pneumatic motor 8 and the arc-shaped rack 7 constitute a second driving assembly.

[0065] The first driving assembly comprises a rotary pneumatic motor 21, a linear bearing 19, a trapezoidal screw rod 23, a trapezoidal nut 25, a motion base 18 and a guide rail shaft 24. One end of the trapezoidal screw rod 23 is connected with an output shaft of the rotary pneumatic motor 21, the other end of the trapezoidal screw rod 23 is connected with the trapezoidal nut 25, and the linear bearing 19 is sleeved on the guide rail shaft 24. The motion base 18 is fixed on the linear bearing 19 and connected with the trapezoidal nut 25.

[0066] Specifically, referring to Figure 1 , another opening, i.e., a second opening, is formed on the common base 1 opposite to one end of the first opening. The size of the second opening can accommodate the rotary pneumatic motor 21. The rotary pneumatic motor 21 is fixed at the second opening. In actual application, the rotary pneumatic motor 21 can also be directly fixed on the common base 1 without forming the opening.

[0067] The two ends of the trapezoidal screw rod 23 are fixed on the common base through the support seat 20, and the trapezoidal screw rod 23 can rotate along its axis. One guide rail shaft 24 is arranged on each side of the trapezoidal screw rod 23, and the two ends of each guide rail shaft 24 are fixed on the support seat. A linear bearing 19 is sleeved on each guide rail shaft 24, and the motion base 18 is fixed on the linear bearing 19.

[0068] One end of the trapezoidal screw rod 23 is connected with the output shaft of the rotary pneumatic motor 21 through the coupling 22, and the other end of the trapezoidal screw rod 23 is connected with the trapezoidal nut 25. The trapezoidal nut 25 is fixedly connected with the motion base 18.

[0069] The motion base 18 is fixedly provided with a connecting rod connecting piece, the connecting rod connecting piece is rotationally connected with the first spatial motion assembly through the connecting rod 15. The connecting rod connecting piece comprises a connecting rod connecting seat 16 and a connecting rod pin 17, one end of the connecting rod 15 is rotationally connected with the connecting rod connecting seat 16 fixed on the motion base 18 through the connecting rod pin 17, and the other end of the connecting rod 15 is rotationally connected with the connecting rod connecting seat 16 fixed on the second arc-shaped bridge 14 through the connecting rod pin 17.

[0070] The XMR image-guided deep brain electrode implantation robot in the embodiment focuses on the structure of the robot, and a structural schematic diagram is shown in Figure 2 、 Figure 3 and Figure 4 . The working principle of the robot is briefly introduced as follows:

[0071] Please refer to Figure 5 . The robot uses the principle that rotation along two intersecting axes in space can position any point in the working space, drives the brain electrode through the arc-shaped bridge, realizes rotation along the X axis and rotation along the circumference of the arc-shaped bridge, and positions the brain electrode in the working space. In addition, the brain electrode is finely adjusted through the micro-motion platform, further improving the positioning accuracy of the robot. The micro-motion platform can be the existing one, achieving millimeter-level fine adjustment.

[0072] During the working process of the robot, please refer to Figure 6 and Figure 7 . The common base 01 of the robot is connected and fixed with the MRI device bed, the rotating pneumatic motor 21 drives the trapezoidal screw rod 23 to rotate forward and backward, then drives the motion base 18 to move linearly reciprocatingly through the trapezoidal nut 25, and further drives the second arc-shaped bridge 14, the bridge connecting piece 5, the first arc-shaped bridge 6, and the micro-motion platform 13 and other components to reciprocate along the axis of the rotating shaft 4 in the pitch direction.

[0073] The spherical ball 11 and the inner part of the motor base 10 are extruded by the screw 12, and are tightly attached to the upper and lower two sliding rails of the first arc-shaped bridge 6, reducing the fitting gap between the motor base 10 and the first arc-shaped bridge 6. At the same time, the spherical ball 11 forms rolling friction in the upper and lower two sliding rails of the first arc-shaped bridge 6, reducing the friction of the motor base 10 sliding on the first arc-shaped bridge 6, and further reducing the driving force required by the reciprocating pneumatic motor 8, so that the movement of the motor base 10 is more stable.

[0074] The reciprocating pneumatic motor 8 drives the motor base 10 to slide along the circumferential direction of the first arc-shaped bridge 6 through the meshing action with the arc-shaped rack 7, and further drives the micro-motion platform to move.

[0075] Through the rotation in the two directions, the main positioning of the robot is completed, and then the micro-motion adjustment of the micro-motion platform in a small range with high precision is performed, further improving the final positioning accuracy and ensuring the accurate placement of the brain electrode.

[0076] The XMR image-guided deep brain electrode implantation robot in the embodiment is an auxiliary surgical robot suitable for working in a nuclear magnetic environment. The material of the robot is any one of ceramic, nylon, polytetrafluoroethylene, polyoxymethylene resin and polyether ether ketone, which does not affect the nuclear magnetic imaging. The driving force used by the robot can be hydraulic force and / or pneumatic force, which does not affect the accuracy of the nuclear magnetic imaging, so that the robot can be further provided with accurate positioning information through the XMR real-time image guidance technology.

[0077] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above-described embodiments. Even if various changes are made to the present application, if the changes belong to the scope of the claims of the present application and equivalent technologies thereof, they still fall within the protection scope of the present application.

Claims

1. An XMR image-guided deep brain electrode implantation robot, characterized in that, It comprises: a base, a first driving assembly fixed on the base; a first spatial movement assembly connected with the first driving assembly and driven by the first driving assembly to make reciprocating movement in the pitch direction to realize positioning of the brain electrode in the first space; the first space is defined as the space in which the track formed from the forehead of the patient along the head shape to the back of the brain in the application scenario thereof is located; a second spatial movement assembly in sliding connection with the first spatial movement assembly; the brain electrode is installed on the second spatial movement assembly; a second driving assembly connected with the second spatial movement assembly to drive the second spatial movement assembly to slide along the sliding rail of the first spatial movement assembly to realize positioning of the brain electrode in the second space; the second space is defined as the space in which the track formed from the left ear of the patient along the head shape to the right ear in the application scenario thereof is located.

2. The XMR image-guided deep brain electrode implantation robot of claim 1, wherein, The first spatial movement assembly comprises a first arc-shaped bridge, a second arc-shaped bridge, a bridge connecting piece and a bridge fixing piece; The bridge connecting piece fixes the first arc-shaped bridge and the second arc-shaped bridge to form a bridge assembly; The bridge assembly is in rotational connection with the bridge fixing piece; The bridge fixing piece is fixed on the base.

3. The XMR image-guided deep brain electrode implantation robot of claim 2, wherein, The bridge connecting piece fixes the end portions of the first arc-shaped bridge and the second arc-shaped bridge.

4. The XMR image-guided deep brain electrode implantation robot of claim 2, wherein, The second arc-shaped bridge is connected with the first driving assembly to make reciprocating movement in the pitch direction under the driving of the first driving assembly.

5. The XMR image-guided deep brain electrode implantation robot of claim 2, wherein, The upper surface and / or the lower surface of the first arc-shaped bridge is provided with a sliding rail along the circumferential direction of the first arc-shaped bridge; a motor seat is sleeved on the sliding rail; the motor seat slides on the sliding rail through spherical balls; And the motor seat is fixed with the first arc-shaped bridge through screws, so that the motor seat and the spherical balls are in close contact with the sliding rail, and the fitting gap between the motor seat and the first arc-shaped bridge is reduced.

6. The XMR image-guided deep brain electrode implantation robot of claim 5, wherein, The surface of the first arc-shaped bridge away from the second arc-shaped bridge is fixed with an arc-shaped rack; a reciprocating pneumatic motor is fixed in the motor seat; the reciprocating pneumatic motor is in engagement with the arc-shaped rack and is pressed by a cover plate; A micro-motion platform is fixed on the motor seat; the brain electrode is installed on the bottom of the micro-motion platform to realize fine adjustment of the positioning of the brain electrode; During operation, the reciprocating pneumatic motor drives the motor seat to slide along the sliding rail through the engagement with the arc-shaped rack, thereby driving the micro-motion platform to move along the sliding rail.

7. The XMR image-guided deep brain electrode implantation robot of claim 1, wherein, The first driving assembly comprises a rotary pneumatic motor, a linear bearing, a trapezoidal screw rod, a trapezoidal nut, a movement base and a guide rail shaft; One end of the trapezoidal screw rod is connected with the output shaft of the rotary pneumatic motor, and the other end of the trapezoidal screw rod is connected with the trapezoidal nut; The linear bearing is sleeved on the guide rail shaft; The movement base is fixed on the linear bearing and connected with the trapezoidal nut; During operation, the rotary pneumatic motor drives the trapezoidal screw rod to rotate forward and backward, thereby driving the movement base to make linear reciprocating movement on the guide rail shaft through the trapezoidal nut.

8. The XMR image-guided deep brain electrode implantation robot of claim 7, wherein, A connecting rod connecting piece is fixed on the movement base; the connecting rod connecting piece is in rotational connection with the first spatial movement assembly through a connecting rod; In operation, the linear reciprocating movement of the moving base drives the first spatial movement assembly to reciprocate in the pitch direction.

9. The XMR image-guided deep brain electrode implantation robot of claim 1, wherein, The robot is an auxiliary surgery robot suitable for working in a nuclear magnetic environment.

10. The XMR image-guided deep brain electrode implantation robot of claim 9, wherein, The material of the robot is any one of ceramic, nylon, polytetrafluoroethylene, polyoxymethylene resin and polyether ether ketone, and does not affect nuclear magnetic imaging.

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