Electrode implantation device and cochlear surgery robot

Abstract

The application relates to the technical field of cochlear surgery, and discloses an electrode implanting device and a cochlear surgery robot. Firstly, in order to reduce the additional injury of a patient and shorten the recovery period, the cochlear structure is scanned and planned, and an electrode implanting channel with a small aperture is drilled; the electrode implanting device which can be connected with the mechanical arm of the cochlear surgery robot is used, the implanting end of a guide tube module is selectively placed in the electrode implanting channel, and the electrode implanting path is stabilized; a driving module arranged in a shell abuts against the electrode, the driving module can selectively drive the electrode to move along the extension direction of the guide tube module so as to implant the electrode into the cochlea through the guide tube module, shaking caused by manual implanting is avoided, the operation is simple, and the implanting speed is uniform; meanwhile, a driven module is arranged in the shell and comprises a driven wheel abutting against the electrode, when the electrode moves, the electrode drives the driven wheel to rotate, and the implanting action of the electrode is further stabilized, and the recovery effect is good.

Description

Technical Field

[0001] This invention relates to the field of cochlear surgery technology, and more particularly to an electrode implantation device and a cochlear surgery robot. Background Technology

[0002] Cochlear implant technology uses a cochlear implant as a treatment for severe to total deafness. A cochlear implant is an electronic bionic device developed based on the physiological principles of the cochlea. It is a high-tech product combining audiology, medicine, biomedicine, microelectronics, materials science, and mechanics. A cochlear implant can replace damaged auditory organs. An external speech processor converts sound into a coded electrical signal, which is then transmitted to the cochlea. Electrodes implanted in the body stimulate the auditory nerve fibers distributed there, directly exciting the auditory nerve to restore or rebuild hearing function in deaf patients. Cochlear implants are a significant achievement of modern medicine. For mild to moderate hearing loss, hearing aids can provide good compensation, while for severe or profound hearing loss, cochlear implantation is internationally recognized as the only effective device to restore hearing in patients with bilateral severe or profound sensorineural hearing loss. In recent years, with the development of electronic technology, computer technology, phonetics, electrophysiology, materials science, and otomicrosurgery, cochlear implants have moved from experimental research to clinical application.

[0003] In existing technologies, cochlear implants mainly consist of an electrode receiver, electrode leads, and electrodes. During cochlear implant surgery, the electrode implantation step involves inserting the electrode receiver subcutaneously behind the ear and then inserting the electrode into the patient's cochlea. Currently, this process is generally performed manually, requiring a high level of skill from the surgeon. Shaking by the surgeon is unavoidable, resulting in inconsistent implantation speed and potentially causing damage to the cochlea. Summary of the Invention

[0004] The purpose of this invention is to provide an electrode implantation device and a cochlear surgery robot that can implant electrodes through a small open incision, with a stable implantation path, uniform implantation speed, simple operation, reduced implantation damage, and shorter recovery period.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention discloses an electrode implantation device, comprising:

[0007] case;

[0008] A guide tube module, which is connected to the housing, includes an implantable end that can be selectively placed in the electrode implantation channel;

[0009] A drive module is disposed within the housing and is configured to abut against an electrode and selectively drive the electrode to move along the extension direction of the guide tube module to pass through the guide tube module.

[0010] A driven module is disposed within the housing. The driven module includes a driven wheel configured to abut against the electrode, and the electrode drives the driven wheel to rotate when the electrode moves.

[0011] As a preferred technical solution for the electrode implantation device, the driving module includes a piezoelectric ceramic and a flexible hinge. The flexible hinge is disposed around the outer periphery of the piezoelectric ceramic and includes a placement end that contacts the electrode. The piezoelectric ceramic is configured to be selectively energized to generate deformation. When the piezoelectric ceramic deforms, the placement end drives the electrode to move along the extension direction of the guide tube module.

[0012] As a preferred technical solution for the electrode implantation device, the electrode implantation device includes a control module, which is configured to control the energizing voltage of the piezoelectric ceramic to change the driving direction of the placement end; the control module includes a control button, which is disposed in the housing.

[0013] As a preferred technical solution for the electrode implantation device, the housing includes a detachable upper shell and a lower shell, with both the drive module and the driven module located in the lower shell.

[0014] As a preferred technical solution for the electrode implantation device, the housing includes an electrical limit stop, which is detachably disposed on the upper housing and configured to selectively cover and abut the electrode.

[0015] As a preferred technical solution for electrode implantation devices, the electrical limit device is made transparent.

[0016] As a preferred technical solution for the electrode implantation device, the driven module includes a fixing member, a connecting member, and a pre-compression elastic member. The two ends of the pre-compression elastic member are fixedly connected to the housing and the connecting member, respectively. The fixing member is fixedly connected to the housing, and the connecting member is rotatably connected to the fixing member. The end of the connecting member away from the pre-compression elastic member is rotatably connected to the driven wheel.

[0017] As a preferred technical solution for the electrode implantation device, the driven module includes an electrode release button, which is connected to the pre-compression elastic element, and part of the electrode release button is located on the outside of the housing.

[0018] As a preferred technical solution for the electrode implantation device, the electrode implantation device includes a protective module, which is connected to the housing and communicatively connected to the drive module. The protective module is configured to eliminate interference from static electricity and electromagnetic fields on the drive module.

[0019] In a second aspect, the present invention discloses a cochlear surgery robot, including an electrode implantation device as described in any of the above claims. The cochlear surgery robot further includes a robotic arm, a scanning device, and a bone drill device. The electrode implantation device is detachably mounted on the robotic arm, and the bone drill device is detachably mounted on the robotic arm. The bone drill device and the electrode implantation device are selectively connected to the robotic arm, and the scanning device is communicatively connected to the robotic arm.

[0020] The beneficial effects of this invention are:

[0021] This invention provides an electrode implantation device and a cochlear surgery robot. First, the cochlear structure is scanned using the scanning device of the cochlear surgery robot to plan the position of the electrode implantation channel. Then, a bone drill is assembled with the robotic arm of the cochlear surgery robot. The bone drill drills the electrode implantation channel according to the plan. To reduce additional damage to the patient and shorten the recovery period, the diameter of the electrode implantation channel is small. The electrode implantation device, detachably mounted on the robotic arm, is used in conjunction with the device. The device includes a housing, a guide tube module, a drive module, and a driven module. The guide tube module is connected to the housing and includes an implantation end that can be selectively placed in the electrode implantation channel, ensuring a stable electrode implantation path. The drive module, located within the housing, abuts against the electrode. The drive module can selectively drive the electrode to move along the extension direction of the guide tube module to implant it into the cochlea, avoiding vibration caused by manual implantation, simplifying operation, and ensuring uniform implantation speed. The driven module, located within the housing, includes a driven wheel that abuts against the electrode. When the electrode moves, it drives the driven wheel to rotate, further stabilizing the electrode implantation action. Finally, the electrode is separated from the electrode implantation device and fixed, completing the electrode implantation. The postoperative effect is good. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the electrode implantation device provided in a specific embodiment of the present invention;

[0023] Figure 2 This is a cross-sectional view of the electrode implantation device provided in a specific embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the operation of the electrode implantation device and the robotic arm provided in a specific embodiment of the present invention;

[0025] Figure 4This is a schematic diagram of the operation of the electrode implantation device and the support provided in another embodiment of the present invention.

[0026] In the picture:

[0027] 100. Housing; 101. Lower housing; 102. Upper housing; 104. Positioning part; 105. Electrical interface;

[0028] 200. Drive module; 201. Piezoelectric ceramic; 202. Flexible hinge; 2021. Placement end;

[0029] 300. Driven module; 301. Driven wheel; 302. Connector; 303. Preload elastic element; 304. Electrode release button; 305. Fixing element;

[0030] 400. Guide tube module; 401. Connector; 402. Guide component; 403. Implantation end;

[0031] 500. Control buttons; 600. Protection module;

[0032] 1. Electrode implantation device; 2. Robotic arm; 3. Scaffold. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0037] like Figures 1 to 4 As shown, in a first aspect, the present invention discloses an electrode implantation device 1, which is a mechanical structure used by a cochlear surgery robot to implant electrodes into the cochlea of ​​a patient during cochlear implantation surgery. The electrode implantation device 1 is detachably mounted on the robotic arm 2 of the cochlear surgery robot. The electrode implantation device 1 includes a housing 100, a guide tube module 400, a drive module 200, and a driven module 300. To reduce additional damage to the patient and shorten the recovery period, the electrode implantation channel has a smaller aperture. The guide tube module 400 is connected to the housing 100 and includes an implantation end 403, which can be selectively placed in the electrode implantation channel, resulting in a smaller open wound and a stable electrode implantation path. The drive module 200, located within the housing 100, abuts against the electrode. The drive module 200 can selectively drive the electrode to move along the extension direction of the guide tube module 400 to be implanted into the cochlea through the guide tube module 400, avoiding vibration caused by manual implantation. The operation is simple and the implantation speed is uniform. The driven module 300, located within the housing 100, includes a driven wheel 301 that abuts against the electrode. The driven wheel 301 and the drive module 200 together limit the electrode. When the electrode moves, the electrode drives the driven wheel 301 to rotate, further stabilizing the electrode implantation action. The electrode implantation effect and post-operative effect are good.

[0038] Understandably, the guide tube module 400 is located at the front end of the electrode implantation device 1. The movement of the robotic arm 2 allows the implantation end 403 to be inserted into the drilled electrode implantation channel, facilitating the direct delivery of the electrode to the predetermined cochlear window position. The guide tube module 400 mainly includes a connector 401 and a guide 402. The connector 401 is installed at the front end of the housing 100, and the guide 402 is mated to the connector 401 with an interference fit. The guide tube module 400 is generally trumpet-shaped. The implantation end 403, as the smallest end of the guide tube module 400, is located at the outermost end of the guide 402. The outer diameter of the implantation end 403 matches the inner diameter of the electrode implantation channel for placement within the channel. The guide tube module 400 in the electrode implantation device 1 provides a smooth and unobstructed implantation channel, improving the success rate of implantation.

[0039] Specifically, the drive module 200 is fixedly connected to the housing 100 via the connector 302, and is mainly used to advance the electrode to complete the implantation work. The drive module 200 includes a piezoelectric ceramic 201 and a flexible hinge 202. The piezoelectric ceramic 201 has the characteristics of high reliability, high resolution, high rigidity, and large output force, making it an ideal drive element for precision motion and positioning. The mechanical structure of the flexible hinge 202 has the characteristics of smooth motion, no friction, no backlash, and high precision, making it suitable for forming a high-resolution, high-frequency-response precision motion and positioning system with the piezoelectric ceramic 201. At the same time, the flexible hinge 202 mechanism can also provide appropriate preload to avoid the piezoelectric ceramic 201 bearing tensile force and improve the service life of the system. The combination of the two is small in size and has been widely used in applications requiring precision positioning. The motion and force output by the actuator of the piezoelectric ceramic 201 are transmitted to the guide mechanism of the flexible hinge 202 through an amplification mechanism or directly. A flexible hinge 202 is wound around the outer periphery of the piezoelectric ceramic 201. The flexible hinge 202 includes a placement end 2021, which contacts the electrode. The piezoelectric ceramic 201 is configured to be selectively energized to generate deformation. When a voltage is applied to the piezoelectric ceramic 201, the placement end 2021 of the flexible hinge 202 swings when the piezoelectric ceramic 201 generates expansion and contraction deformation. The placement end 2021 contacts the electrode and drives the electrode to move along the extension direction of the guide tube module 400.

[0040] Optionally, the driven module 300 includes a fixing member 305, a connecting member 302, and a pre-compression elastic member 303. The fixing member 305 of the driven module 300 is fixedly connected to the housing 100, and the connecting member 302 is rotatably connected to the fixing member 305. Both ends of the pre-compression elastic member 303 are fixedly connected to the housing 100 and the connecting member 302, respectively. The end of the connecting member 302 away from the pre-compression elastic member 303 is rotatably connected to the driven wheel 301. Pre-compression is provided by the pre-compression elastic member 303, and the connecting member 302 can rotate around the fixing member 305 to limit and clamp the electrode together with the driven wheel 301 and the drive module 200. Exemplarily, the housing 100 is provided with a slot corresponding to the pre-compression elastic member 303 to limit the pre-compression elastic member 303 and make the structure more stable.

[0041] Furthermore, the driven module 300 also includes an electrode release button 304, which is connected to the pre-compression elastic element 303. Part of the electrode release button 304 is located on the outside of the housing 100, with part of the electrode release button 304 exposed to facilitate the surgical operator to press the pre-compression elastic element 303. A corresponding snap-fit ​​groove is provided on the side of the housing 100 to facilitate the solid snap-fit ​​of the electrode release button 304 to the housing 100.

[0042] Preferably, the electrode implantation device 1 includes a control module configured to control the energizing voltage of the piezoelectric ceramic 201 to change the driving direction of the placement end 2021, controlling the advance or retraction of the electrode. The control module can be directly mounted on the housing 100 or configured as an external controller for convenient remote operation by the surgeon. In this embodiment, the control module includes a control button 500, which is located on the housing 100, allowing the surgeon to more conveniently and quickly control the drive module 200 directly.

[0043] Furthermore, an electrical interface 105 is provided at the rear of the housing 100. The electrical interface 105 is used to connect other electrical accessories to assist the electrode implantation device 1 in working better. The electrode implantation device 1 includes a protection module 600, which is connected to the electrical interface 105 and communicates with the drive module 200. The protection module 600 is configured to eliminate the interference of static electricity and electromagnetic noise signals on the drive module 200, so that the electrode implantation device 1 meets the medical electromagnetic compatibility standards and has anti-interference protection function.

[0044] In this embodiment, the housing 100 includes a detachable upper housing 102 and a lower housing 101. The drive module 200 and the driven module 300 are both located in the lower housing 101, facilitating the opening of the housing 100 for replacement and maintenance of the internal structure, and also facilitating the placement of replacement electrodes. The housing 100 includes an electrical limit positioner. Specifically, the electrical limit positioner is detachably located in the upper housing 102. The electrical limit positioner is configured to selectively cover and abut the electrode. When the electrode becomes blocked or misaligned, only the electrical limit positioner needs to be opened to adjust the electrode. Simultaneously, the electrical limit positioner, the driven wheel 301, and the placement end 2021 provide three-sided limiting for the electrode, further ensuring a more secure electrode assembly and improving the stability of electrode implantation.

[0045] For example, the electrical limit positioner can be made transparent and made of glass or plastic, so that the surgeon can observe the movement of the electrode inside the housing 100 at any time; the upper housing 102 and the lower housing 101 can be fixedly connected by a snap fastener, and the electrical limit positioner can also be fixedly connected to the upper housing 102 by a snap fastener, which is convenient for disassembly.

[0046] Optionally, as the main support part of the electrode implantation device 1, the housing 100 is provided with a positioning part 104. The positioning part 104 is positioned with the mating surface on the robotic arm 2, and the electrode implantation device 1 and the robotic arm 2 can be selectively fixedly connected through the mounting holes on the positioning part 104 to ensure installation accuracy, so as to prepare for the subsequent direct application of the planned electrode implantation channel.

[0047] Specifically, such as Figure 3 As shown in the second aspect, the present invention discloses a cochlear surgery robot, including the aforementioned electrode implantation device 1. The cochlear surgery robot also includes a robotic arm 2, a scanning device, and a bone drill device. The scanning device is communicatively connected to the robotic arm 2 and is used to scan the cochlear structure before the surgery begins, enabling it to determine and plan the movements of the robotic arm 2 during the cochlear surgery. The bone drill device and the electrode implantation device 1 can be detachably installed on the robotic arm 2, respectively. The bone drill device and the electrode implantation device 1 are connected to the robotic arm 2 sequentially, so that the electrode implantation channel can be drilled first using the bone drill device, and then the electrode implantation device 1 can be used to smoothly and safely implant the electrode into the ideal position in the cochlea, thereby providing the necessary hearing assistance.

[0048] Furthermore, the following steps are required to perform cochlear surgery using a cochlear surgery robot: First, preoperative preparation is performed, including cleaning and fixing the patient; then, the cochlear structure is scanned using the scanning device of the cochlear surgery robot, and the position and implantation action of the electrode implantation channel are planned; the robotic arm 2 of the cochlear surgery robot is moved, at which point a bone drill device is installed on the robotic arm 2 to drill a 1.8 mm hole according to the planned electrode implantation channel, which results in a smaller open incision than conventional cochlear surgery, reducing additional damage to the patient and shortening the recovery period; the bone drill device is removed and replaced with the electrode implantation device 1, so that the positioning part 104 aligns with the mating surface. The connection is fixed in place; the robotic arm 2 automatically plans and moves the electrode implantation device 1 to the implantation working position. At this time, the electrode implantation device 1 is started, and the drive module 200 pushes the electrode into the guide tube module 400 through the control module; after ensuring that the implantation end 403 is placed in the position of the electrode implantation channel, the electrode receiving end is fixed first, and then the drive module 200 is used through the control module to continue implanting the electrode into the cochlea, completing the electrode implantation; the electrode is separated from the electrode implantation device 1, the robotic arm 2 continues to move, so that the implantation end 403 leaves the electrode implantation channel, and the electrode is placed and fixed in the patient's cochlea; the open wound is sutured to complete the cochlear surgery. This surgery is highly stable. During electrode implantation via the drive module 200 of the electrode implantation device 1, the shaking that is unavoidable during manual implantation is avoided, and the implantation speed is stable, making it easier for the electrode to enter the cochlea and reducing damage to the cochlea. It also simplifies the surgical procedure. During electrode implantation, the robotic arm 2 automatically moves to the implantation position and automatically inserts the implantation end 403 into the electrode implantation channel, as close as possible to the cochlear window. The surgeon only needs to control the electrode feed and observe the implantation status via the control button 500, without having to manually clamp the electrode for implantation, making the operation simple.

[0049] In another embodiment, specifically as follows Figure 4 As shown, the electrode implantation device 1 is fixed on the passive support 3. The electrode implantation device 1 is moved to the corresponding area according to the planned implantation position, and the position of the electrode implantation device 1 is fixed by the passive support 3. The surgeon completes the electrode implantation work by controlling button 500, eliminating the use of the cochlear surgery robot, which saves more costs. The position of the electrode implantation device 1 can be adjusted in time by manual control, avoiding planning errors.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An electrode implantation device, characterized by, The electrode implantation device (1) comprises a shell (100), a guide tube module (400) in communication with the shell (100), the guide tube module (400) comprising an implantation end (403) selectively placed in an electrode implantation channel, a driving module (200) arranged in the shell (100), the driving module (200) configured to abut the electrode and selectively drive the electrode to move along the extension direction of the guide tube module (400) through the guide tube module (400), and a driven module (300) arranged in the shell (100), the driven module (300) comprising a driven wheel (301) configured to abut the electrode and driven by the electrode to rotate when the electrode moves. The driving module (200) comprises a piezoelectric ceramic (201) and a flexible hinge (202) arranged around the outer periphery of the piezoelectric ceramic (201), the flexible hinge (202) comprising a placement end (2021) in contact with the electrode, the piezoelectric ceramic (201) being configured to be selectively powered to generate deformation, and when the piezoelectric ceramic (201) generates deformation, the placement end (2021) drives the electrode to move along the extension direction of the guide tube module (400). The driven module (300) comprises a fixing member (305), a connecting member (302), and a pre-compressed elastic member (303), both ends of the pre-compressed elastic member (303) being fixedly connected with the shell (100) and the connecting member (302), respectively, the fixing member (305) being fixedly connected with the shell (100), the connecting member (302) being rotatably connected with the fixing member (305), and the end of the connecting member (302) away from the pre-compressed elastic member (303) being rotatably connected with the driven wheel (301). The electrode implantation device (1) comprises a control module configured to control the power voltage of the piezoelectric ceramic (201) to change the driving direction of the placement end (2021), and the control module comprises a control button (500) arranged on the shell (100). The shell (100) comprises a detachably arranged upper shell (102) and a lower shell (101), and the driving module (200) and the driven module (300) are arranged in the lower shell (101). The shell (100) comprises an electrode limiting member detachably arranged on the upper shell (102), the electrode limiting member being configured to selectively cover and abut the electrode. The electrode limiting member is arranged in a transparent shape.

2. The electrode implant device of claim 1, wherein, ​ 3. The electrode implant device of claim 1, wherein, ​ 4. The electrode implant device of claim 3, wherein, ​ 5. The electrode implant device of claim 4, wherein, ​ 6. The electrode implant device of claim 1, wherein, The driven module (300) comprises an electrode release button (304) connected with the pre-elastic element (303), and part of the electrode release button (304) is arranged outside the shell (100).

7. The electrode implant device of claim 1, wherein, The electrode implanting device (1) comprises a protection module (600) connected with the shell (100), and the protection module (600) is in communication connection with the driving module (200), and the protection module (600) is configured to eliminate the interference of static electricity and electromagnetism on the driving module (200).

8. A cochlear surgery robot characterized by, The cochlear surgery robot comprises a mechanical arm (2), a scanning device and a bone drill device, and the electrode implanting device (1) is detachably arranged on the mechanical arm (2), the bone drill device is detachably arranged on the mechanical arm (2), the bone drill device and the electrode implanting device (1) are alternatively connected with the mechanical arm (2), and the scanning device is in communication connection with the mechanical arm (2).

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