Implantation method and device of flexible wire electrode

Abstract

The invention provides an implantation method and device for a flexible wire electrode, and the device comprises a first mounting mechanism, and the bottom of the first mounting mechanism is detachably connected with a brain-computer interface electronic module with the flexible wire electrode; the second mounting mechanism is detachably connected to one side of the first mounting mechanism, and the first end of the second mounting mechanism extends towards the bottom of the outer side of the first mounting mechanism; the stop lever mechanism is detachably connected to the first mounting mechanism and / or the second mounting mechanism, the first end of the stop lever mechanism extends towards the bottom of the outer side of the first mounting mechanism, and the first end of the stop lever mechanism and the first end of the second mounting mechanism are arranged in a spaced mode. According to the implanting device of the flexible wire electrode, the first mounting mechanism is connected with the execution device at the tail end of the implanting robot, and the implanting device can be reliably fixed to the designated position on the skull in the implanting process.

Description

Technical Field

[0001] The present invention relates to the field of brain-computer interface technology, and in particular to a method and device for implanting a flexible filament electrode. Background Art

[0002] Flexible wire electrodes are extremely soft, filamentous, and conductive neural electrodes. After being implanted in the brain, they can collect or stimulate EEG signals and play an important role in implantable brain-computer interface systems. In order to reduce the trauma of implantation to the brain and improve long-term compatibility after implantation, the flexible wire electrode material is very soft, resulting in the rigidity of the flexible wire electrode being unable to support its own weight and shape. Without external assistance, the shape and end position of the flexible wire electrode are uncontrollable.

[0003] Most of the existing flexible wire electrode implantation technologies adopt the "sewing machine" paradigm, that is, a rigid implantation needle is used to hook the ring structure at the end of the flexible wire electrode, and the implantation needle is inserted into the brain with the flexible wire electrode. Finally, the implantation needle is withdrawn from the brain alone, and the end of the flexible wire electrode remains in the brain. The brain-computer interface electronic module is connected to the flexible wire electrode and is responsible for signal amplification, A / D conversion, data communication and other functions. It needs to be reliably fixed on the skull. In addition to the two core steps of aligning and connecting the implantation needle with the flexible wire electrode and inserting it into the implantation target, the specific implementation of the complete implantation process also includes three key technologies: 1) Pre-placing the flexible electrode wire near the implantation target, 2) Preventing the flexible wire electrode from falling off the implantation needle due to gravity and external interference, and 3) Fixing the brain-computer interface electronic module connected to the flexible wire electrode near the implantation target. These three key technologies significantly affect the reliability, time efficiency and ease of use of flexible wire electrode implantation. It is difficult for existing technologies to achieve reliability, efficiency and ease of use at the same time, and most of them only consider the implantation of flexible wire electrodes, without considering how to connect and fix the brain-computer interface electronic module to the designated position on the skull.

[0004] Therefore, there is an urgent need for a reliable, efficient and easy-to-use flexible wire electrode implantation method and device to solve the above problems. Summary of the invention

[0005] The present invention provides a method and device for implanting a flexible wire electrode, which are used to solve the problem of implanting the flexible wire electrode and connecting and fixing a brain-computer interface electronic module to a designated position on the skull.

[0006] The present invention provides an implantation device for a flexible wire electrode, comprising: A first mounting mechanism, used to be connected to an actuator at the end of the implanted robot, wherein a brain-computer interface electronic module having a flexible filament electrode is detachably connected to the bottom of the first mounting mechanism; A second mounting mechanism is detachably connected to one side of the first mounting mechanism, and a first end of the second mounting mechanism extends toward the bottom of the outer side of the first mounting mechanism for adhering the flexible wire electrode; The blocking rod mechanism is detachably connected to the first mounting mechanism and / or the second mounting mechanism, and the first end of the blocking rod mechanism extends toward the bottom of the outer side of the first mounting mechanism. The first end of the blocking rod mechanism is spaced apart from the first end of the second mounting mechanism to cooperate to form a placement space for the flexible filament electrode.

[0007] According to a flexible wire electrode implantation device provided by the present invention, the first mounting mechanism comprises: a mounting plate; A connecting portion is formed on the mounting plate, and the second mounting mechanism and the blocking rod mechanism are both detachably connected to one side of the mounting plate through the connecting portion. A first mounting surface for mounting the brain-computer interface electronic module is formed at the bottom of the mounting plate.

[0008] According to a flexible wire electrode implantation device provided by the present invention, the connecting portion is provided with a first socket and a second socket; The second mounting mechanism is provided with a first plug-in column adapted to the first socket, and the blocking lever mechanism is provided with a second plug-in column adapted to the second socket; The second mounting mechanism is detachably connected to the first mounting mechanism via the first plug-in column and the first socket, and the blocking lever mechanism is detachably connected to the first mounting mechanism via the second plug-in column and the second socket.

[0009] According to a flexible wire electrode implantation device provided by the present invention, the connecting portion is provided with a first fixing hole and a second fixing hole; The first fixing hole is in communication with the first socket, so that when the first plug-in column is inserted into the first socket, the first plug-in column is fixed by arranging a fastener in the first fixing hole; The second fixing hole is communicated with the second socket, so that when the second plug-in column is inserted into the second socket, the second plug-in column can be fixed by arranging a fastener in the second fixing hole.

[0010] According to a flexible wire electrode implantation device provided by the present invention, one end of the hanging plate is suitable for being inserted into the actuator, and a third fixing hole is provided at the corresponding position, so as to fix the hanging plate and the actuator by arranging fasteners in the actuator and the third fixing hole.

[0011] According to a flexible wire electrode implantation device provided by the present invention, a plurality of the first sockets and a plurality of the second sockets are provided in the connecting portion; The second mounting mechanism is provided with a plurality of the first plug-in posts corresponding one-to-one to the first sockets, and the blocking lever mechanism is provided with a plurality of the second plug-in posts corresponding one-to-one to the second sockets.

[0012] According to a flexible wire electrode implantation device provided by the present invention, the second mounting mechanism comprises: A first connecting member, provided with the first plug-in column, for being detachably connected to one side of the hanging plate; A hanging member extending in the width direction of the hanging plate, with a second hanging surface formed at the bottom for adhering the flexible wire electrode; The first connecting rod is arranged between the first connecting member and the hanging member, one end of which is connected to the first connecting member, and the other end of which is connected to the hanging member.

[0013] According to a flexible wire electrode implantation device provided by the present invention, the blocking rod mechanism comprises: A second connecting member is provided with the second plug-in column for being detachably connected to one side of the hanging plate; Support rods are arranged at intervals at the bottom of the hanging member and cooperate with the hanging member to form the placement space; The second connecting rod is arranged between the second connecting member and the supporting rod, one end of the second connecting member is connected to the second connecting member, and the other end of the second connecting rod is connected to the supporting rod.

[0014] According to a flexible wire electrode implantation device provided by the present invention, the first connector is provided with a through hole adapted to the second plug-in column, and the second plug-in column passes through the through hole and is arranged in the second socket, so that the second connector is connected to the outside of the first connector.

[0015] The present invention also provides a method for implanting a flexible wire electrode, wherein the method for implanting a flexible wire electrode utilizes an implantation device for the flexible wire electrode and comprises the following steps: Determine the implantation area of ​​the flexible wire electrode and the installation area of ​​the brain-computer interface electronic module; The second mounting mechanism is connected to the first mounting mechanism, the brain-computer interface electronic module is connected to the first mounting mechanism, and the flexible wire electrode of the brain-computer interface electronic module is connected to the second mounting mechanism, so that the initial distance between the end of the flexible wire electrode and the brain-computer interface electronic module does not exceed the first distance threshold; The blocking rod mechanism is connected to the first mounting mechanism and / or the second mounting mechanism, and the first mounting mechanism is connected to the actuator at the end of the implant robot; The implantation robot performs an implantation operation on the flexible wire electrode, so that the flexible wire electrode is detached from the second mounting mechanism and inserted into the implantation area; Sequentially remove the blocking lever mechanism and the second mounting mechanism from the first mounting mechanism; The implanted robot performs posture adjustment movement so that the brain-computer interface electronic module approaches and aligns with the installation area, and the distance between the two is less than a second distance threshold; Release the brain-computer interface electronic module from the first mounting mechanism so that the brain-computer interface electronic module is connected to the adapter structure in the installation area.

[0016] The flexible wire electrode implantation device and method provided by the present invention are connected to the actuator at the end of the implantation robot through the first mounting mechanism, and can be reliably fixed at the designated position on the skull during the implantation process. At the same time, the provision of the second mounting mechanism and the baffle mechanism provides a stable and controllable placement space for the flexible wire electrode, effectively preventing the electrode from falling off due to gravity and external interference during the implantation process, thereby improving the reliability of the implantation. The detachable connection between the first mounting mechanism and the second mounting mechanism, as well as the flexible configuration of the baffle mechanism, enable the operator to quickly and accurately complete the mounting, implantation and installation of the electrode, significantly shortening the operation time and improving the implantation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the flexible wire electrode implantation device provided in an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of a first mounting mechanism provided in an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of a second mounting mechanism provided in an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of a blocking lever mechanism provided in an embodiment of the present invention.

[0022] Figure 5 It is a schematic flow chart of a method for implanting a flexible wire electrode provided in an embodiment of the present invention.

[0023] Figure 6 is a schematic diagram of an implantation target provided by an embodiment of the present invention.

[0024] Figure 7It is a schematic diagram of a brain-computer interface electronic module being arranged on an implant device of a flexible wire electrode provided in an embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of implanting a first flexible wire electrode provided by an embodiment of the present invention.

[0026] Fig. 9 It is a schematic diagram of implanting all flexible filament electrodes provided by an embodiment of the present invention.

[0027] Fig.10 It is a schematic diagram of the disassembled second mounting mechanism and the blocking lever mechanism provided by an embodiment of the present invention.

[0028] Fig.11 It is a schematic diagram of the brain-computer interface electronic module approaching and aligning with the adaptation structure provided by an embodiment of the present invention.

[0029] Fig.12 It is a schematic diagram of the connection and fixation between the brain-computer interface electronic module and the adapter structure provided in an embodiment of the present invention.

[0030] Reference numerals: 1. First mounting mechanism; 11. Mounting plate; 12. Connecting part; 13. First mounting surface; 14. First fixing hole; 15. Second fixing hole; 16. Third fixing hole; 2. Second mounting mechanism; 21. First plug-in column; 22. First connecting piece; 23. Mounting piece; 24. First connecting rod; 25. Through hole; 26. Second mounting surface; 3. Baffle mechanism; 31. Second plug-in column; 32. Second connecting piece; 33. Support rod; 34. Second connecting rod; 4. Brain-computer interface electronic module; 5. Flexible filament electrode; 51. End of flexible filament electrode; 6. Corresponding part of the actuator; 7. Implantation needle; 8. Implantation target; 81. Implantation area; 82. Installation area; 10. Adaptation structure. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Combine the following Figure 1-Figure 12 The method and device for implanting a flexible wire electrode provided by the present invention are described in detail through specific embodiments and application scenarios.

[0033] The present application provides an implantation device of a flexible wire electrode, such as Figures 1 to 6 As shown, the implantation device of the flexible wire electrode comprises: A first mounting mechanism 1 is used to be connected to an actuator at the end of the implanted robot, and a brain-computer interface electronic module 4 having a flexible wire electrode 5 is detachably connected to the bottom of the first mounting mechanism 1; The second mounting mechanism 2 is detachably connected to one side of the first mounting mechanism 1, and the first end of the second mounting mechanism 2 extends toward the bottom of the outer side of the first mounting mechanism 1 for adhering the flexible wire electrode 5; The blocking rod mechanism 3 is detachably connected to the first mounting mechanism 1 and / or the second mounting mechanism 2, and the first end of the blocking rod mechanism 3 extends toward the bottom of the outer side of the first mounting mechanism 1. The first end of the blocking rod mechanism 3 is spaced apart from the first end of the second mounting mechanism 2 to cooperate to form a placement space for the flexible wire electrode 5.

[0034] In this embodiment, the first mounting mechanism 1 is connected to the actuator at the end of the implanted robot. A brain-computer interface electronic module 4 with a flexible filament electrode 5 is detachably connected to the bottom. Since the brain-computer interface electronic module 4 is a cylindrical structure with a diameter of 2 cm, the width and length of the first mounting mechanism 1 are set to 1.8 cm and 3.6 cm respectively to ensure that the brain-computer interface electronic module 4 can be mounted stably. The second mounting mechanism 2 is detachably connected to one side of the first mounting mechanism 1 for adhering the flexible filament electrode 5. The baffle mechanism 3 cooperates with the second mounting mechanism 2 to form a placement space for the flexible filament electrode 5. The baffle mechanism 3 is detachably connected to the first mounting mechanism 1 and / or the second mounting mechanism 2, and the first end also extends toward the bottom of the outer side of the first mounting mechanism 1, and is spaced apart from the first end of the second mounting mechanism 2.

[0035] Direction of implantation Figure 1 As shown, there are six directions: up, down, front, back, left and right. When the implant device is connected to the actuator at the end of the implant robot, the actuator is located above the implant device, and the implant area 81 is located below the implant device.

[0036] The flexible wire electrode implantation device provided in this embodiment is connected to the actuator at the end of the implantation robot through the first mounting mechanism 1, and can be reliably fixed at the designated position on the skull during the implantation process. At the same time, the setting of the second mounting mechanism 2 and the blocking rod mechanism 3 provides a stable and controllable placement space for the flexible wire electrode 5, effectively preventing the electrode from falling off due to gravity and external interference during the implantation process, thereby improving the reliability of the implantation. The detachable connection between the first mounting mechanism 1 and the second mounting mechanism 2, and the flexible configuration of the blocking rod mechanism 3 enable the operator to quickly and accurately complete the mounting, positioning and implantation of the electrode, significantly shortening the operation time and improving the implantation efficiency.

[0037] In some embodiments, Figures 1 to 4 As shown, the first mounting mechanism 1 includes: a mounting plate 11; a connecting portion 12 is formed on the mounting plate 11. The second mounting mechanism 2 and the blocking rod mechanism 3 are both detachably connected to one side of the mounting plate 11 through the connecting portion 12, mainly for temporary mechanical connection. The bottom of the mounting plate 11 is formed with a first mounting surface 13 for mounting the brain-computer interface electronic module 4, so that the brain-computer interface electronic module 4 can be smoothly transferred to the adapter structure 10 on the implant target 8 below after being released from the mounting plate 11.

[0038] Specifically, the mounting plate 11 provides a planar or approximately planar structure for connecting other components (such as the second mounting mechanism 2 and the blocking rod mechanism 3) and mounting the brain-computer interface electronic module 4. The material of the mounting plate 11 has a certain strength and rigidity to ensure that the stability and integrity of the structure can be maintained during the implantation process.

[0039] The connection portion 12 is formed on the mounting plate 11 and is used for temporary mechanical connection with the second mounting mechanism 2 and the blocking rod mechanism 3. The connection portion 12 may be in the form of a threaded hole, a buckle, a slot, etc., so as to be used in conjunction with corresponding connecting parts (such as screws, buckles, latches, etc.) to achieve a detachable connection. Through the connection portion 12, the second mounting mechanism 2 and the blocking rod mechanism 3 can be flexibly installed on the left or right side of the mounting plate 11 (depending on actual needs), thereby meeting different implantation requirements.

[0040] The first mounting surface 13 is formed at the bottom of the mounting plate 11 and is used to mount the brain-computer interface electronic module 4. The first mounting surface 13 has a profile and size that matches the brain-computer interface electronic module 4 to ensure that the electronic module can be firmly mounted on the mounting plate 11. Optionally, for the brain-computer interface electronic module 4 whose upper side is a plane in this example, the first mounting surface 13 is also a plane. If the upper side of the brain-computer interface electronic module 4 is a curved surface or an irregular shape, the first mounting surface 13 should also be a matching curved surface or irregular shape.

[0041] In addition, the first mounting surface 13 may also use some special materials or coatings to increase the friction or adhesion between the first mounting surface 13 and the electronic module to prevent the electronic module from falling off or sliding during the implantation process.

[0042] The second mounting mechanism 2 is detachably connected to one side of the mounting plate 11 through the connecting portion 12, and is used to adhere the flexible wire electrode 5. The blocking rod mechanism 3 is also detachably connected to the mounting plate 11 through the connecting portion 12 (it may be directly connected to the mounting plate 11, or it may be indirectly connected through the second mounting mechanism 2), and cooperates with the second mounting mechanism 2 to form a placement space for the flexible wire electrode 5.

[0043] In some embodiments, an adjustment mechanism (such as a sliding groove, a rotating shaft, etc.) may be added to the blocking rod mechanism 3 so as to adjust the interval between it and the second mounting mechanism 2 as needed to meet different installation requirements.

[0044] In some embodiments, Figures 1 to 4 As shown, a first socket and a second socket are provided in the connecting portion 12; the second mounting mechanism 2 is provided with a first plug-in column 21 adapted to the first socket, and the blocking rod mechanism 3 is provided with a second plug-in column 31 adapted to the second socket; the second mounting mechanism 2 is detachably connected to the first mounting mechanism 1 through the first plug-in column 21 and the first socket, and the blocking rod mechanism 3 is detachably connected to the first mounting mechanism 1 through the second plug-in column 31 and the second socket.

[0045] In this embodiment, two independent sockets, a first socket and a second socket, are provided on the connecting portion 12, which are used to connect with the second mounting mechanism 2 and the blocking rod mechanism 3, respectively. The sockets may adopt standardized sizes and shapes so as to achieve seamless docking with the corresponding plug-in columns. The second mounting mechanism 2 and the blocking rod mechanism 3 are respectively provided with plug-in columns adapted to the first socket and the second socket. The plug-in columns have a profile and size that match the sockets to ensure that they can be tightly inserted into the sockets and achieve a stable connection.

[0046] In order to make the structure compact and save space for installation, the positions of the first socket and the second socket are designed to overlap partially. This design can reduce the area occupied by the connecting portion 12 on the hanging plate 11, thereby making the entire implant device more compact and lightweight. The overlap of the socket positions can be achieved in many ways, such as designing the two sockets as adjacent but partially overlapping rectangular or circular holes.

[0047] In some embodiments, Figures 1 to 4 As shown, the connecting portion 12 is provided with a first fixing hole 14 and a second fixing hole 15; the first fixing hole 14 is communicated with the first socket so that when the first plug-in column 21 is inserted into the first socket, the first plug-in column 21 is fixed by a fastener arranged in the first fixing hole 14; the second fixing hole 15 is communicated with the second socket so that when the second plug-in column 31 is inserted into the second socket, the second plug-in column 31 is fixed by a fastener arranged in the second fixing hole 15.

[0048] Specifically, two independent fixing holes, a first fixing hole 14 and a second fixing hole 15, are provided on the connecting portion 12, which are respectively connected to the first socket and the second socket. The design of the fixing holes allows the plug-in column to be firmly fixed in the socket by fasteners (such as screws, bolts, etc.) after the plug-in column is inserted into the socket. The fastener is used to provide additional fixing force to ensure the stability and reliability of the plug-in column in the socket. When the fastener is screwed into the fixing hole and pressed against the plug-in column, it generates an inward clamping force, thereby preventing the plug-in column from loosening or falling off in the socket.

[0049] In some embodiments, Figures 1 to 4 As shown, one end of the hanging plate 11 is suitable for being inserted into the actuator, and a third fixing hole 16 is provided at a corresponding position, so as to fix the hanging plate 11 and the actuator by providing fasteners in the actuator and the third fixing hole 16 .

[0050] In this embodiment, one end of the attachment plate 11 is specially designed so that it can be smoothly inserted into the corresponding slot or opening in the actuator, so as to establish a stable mechanical connection between the attachment plate 11 and the actuator, thereby ensuring that the entire implant device can maintain stability and reliability when performing tasks.

[0051] One or more third fixing holes 16 are provided at one end of the attachment plate 11 inserted into the actuator. These fixing holes are used to accommodate fasteners (such as screws, bolts, etc.) so as to firmly fix the attachment plate 11 to the actuator. The position and number of the third fixing holes 16 may be customized according to the structure of the actuator and the design of the attachment plate 11 to ensure the best fixing effect and stability. Fasteners (such as screws or bolts) are screwed into the third fixing holes 16 and pressed against the corresponding parts 6 of the actuator, thereby providing additional fixing force. This fixing force can ensure the stability and reliability of the attachment plate 11 in the actuator and prevent it from loosening or falling off during implantation or use.

[0052] In one example, if Figures 1 to 4 As shown, the connecting portion 12 is provided with a plurality of first sockets and a plurality of second sockets; the second mounting mechanism 2 is provided with the first plug-in columns 21 corresponding one-to-one to the first sockets, and the blocking lever mechanism 3 is provided with a plurality of second plug-in columns 31 corresponding one-to-one to the second sockets.

[0053] In this embodiment, the plurality of first sockets and the plurality of second sockets may be distributed on the connection portion 12 in a specific arrangement (such as a linear arrangement, a matrix arrangement, etc.). The spacing between the plurality of first sockets and the plurality of second sockets may be customized according to the size and shape of the plug-in column to ensure that the plug-in column can be tightly inserted into the socket and achieve a stable connection.

[0054] The second mounting mechanism 2 is provided with a first plug-in column 21 corresponding to the first socket, and the blocking lever mechanism 3 is provided with a second plug-in column 31 corresponding to the second socket. This one-to-one corresponding design ensures that each socket has a corresponding plug-in column for connection, thereby improving the reliability and stability of the connection.

[0055] According to actual needs, the plug-in posts on the second mounting mechanism 2 and the blocking rod mechanism 3 may have different shapes, sizes and materials. For example, the plug-in posts may be cylindrical, conical, rectangular or other different shapes to meet the design requirements of different sockets.

[0056] In one example, if Figure 3 As shown, the second mounting mechanism 2 includes: a first connecting member 22, a hanging member 23 and a first connecting rod 24. The first connecting member 22 is provided with a first plug-in column 21 for detachably connecting to one side of the hanging plate 11; the hanging member 23 extends in the width direction of the hanging plate 11, and a second mounting surface 26 for adhering the flexible wire electrode 5 is formed at the bottom; the first connecting rod 24 is generally arranged obliquely between the first connecting member 22 and the hanging member 23, with one end connected to the first connecting member 22 and the other end connected to the hanging member 23.

[0057] Specifically, the first connecting member 22 is the main connecting part of the second mounting mechanism 2, and it is provided with a first plug-in column 21 for detachably connecting with one side of the mounting plate 11. The mounting member 23 is the part of the second mounting mechanism 2 for adhering the flexible wire electrode 5. It extends in the width direction of the mounting plate 11, and a second mounting surface 26 is formed at the bottom. The shape and size of the second mounting surface 26 may be customized according to the design and requirements of the flexible wire electrode 5. In this embodiment, the length of the second mounting surface 26 is 12 mm, allowing multiple flexible wire electrodes 5 to be adhered to the second mounting surface 26 in parallel at a certain interval. The width of the second mounting surface 26 is 3 mm, so that the length of the part where each flexible wire electrode 5 adheres to the second mounting surface 26 is 3 mm. The first connecting rod 24 is obliquely arranged between the first connecting member 22 and the mounting member 23, one end of which is connected to the first connecting member 22, and the other end is connected to the mounting member 23.

[0058] In one example, if Figure 4 As shown, the blocking rod mechanism 3 includes: a second connecting member 32, a support rod 33 and a second connecting rod 34. The second connecting member 32 is provided with a second plug-in column 31 for detachably connecting to one side of the hanging plate 11; the support rod 33 is arranged at intervals at the bottom of the hanging member 23, and cooperates with the hanging member 23 to form a placement space; the second connecting rod 34 is generally arranged obliquely between the second connecting member 32 and the support rod 33, one end of which is connected to the second connecting member 32, and the other end is connected to the support rod 33.

[0059] In this embodiment, the design of the blocking rod mechanism 3 takes into account disassembly and stability. Through the second plug-in column 31 on the second connecting member 32, the blocking rod mechanism 3 can be conveniently connected to the hanging plate 11 to achieve quick installation and removal. The length and diameter of the support rod 33 may be selected based on a comprehensive consideration of structural strength, weight and space. The support rod 33 is a slender cylinder with a smooth surface. The length of the support rod 33 is 11 mm and the cross-sectional diameter is 1.5 mm. While ensuring sufficient strength, it also reduces the use of materials and reduces weight.

[0060] When the second mounting mechanism 2 is connected to the first mounting mechanism 1, the second mounting plane is located in front of the first mounting mechanism 2, and the front-to-back spacing is the first spacing, and the second mounting plane is located below the first mounting plane, and the upper-lower spacing is the second spacing. The first spacing and the second spacing allow the flexible wire electrode 5 between the second mounting plane and the brain-computer interface electronic module 4 to be moderately bent. Preferably, the first spacing and the second spacing are both set to 1 cm.

[0061] When the blocking rod mechanism 3 is connected to the first mounting mechanism 1, the support rod 33 is located below the second mounting surface 26, the axis of the support rod 33 is approximately parallel to the second mounting surface 26, and the upper and lower spacings between the upper edge of the support rod 33 and the second mounting surface 26 are the third spacings, so that the flexible wire electrode 5 is promptly supported by the support rod 33 after falling off from the second mounting surface 26. Preferably, the third spacing is set to 1 mm.

[0062] Need to explain yes, if Figure 3 and Figure 4 As shown, the first connector 22 is provided with a through hole 25 adapted to the second plug-in column 31 , and the second plug-in column 31 passes through the through hole 25 and is arranged in the second socket, so that the second connector 32 is connected to the outside of the first connector.

[0063] In practical applications, the second plug-in column 31 will pass through the through hole 25 on the first connector 22 and be inserted into the second socket preset on the mounting plate 11. In this way, the second connector 32 is firmly connected to the outside of the first connector 22 (and the mounting plate 11) through the cooperation between the second plug-in column 31 and the through hole 25, and the fixing effect of the second socket. Due to the close cooperation between the through hole 25 and the second plug-in column 31, and the fixing effect of the second socket on the second plug-in column 31, this connection method provides excellent stability. It ensures the firm connection between the blocking rod mechanism 3 and the second mounting mechanism 2 on the mounting plate 11, thereby improving the reliability and durability of the entire implant device.

[0064] This embodiment also provides a method for implanting a flexible wire electrode. The method for implanting a flexible wire electrode utilizes the above-mentioned flexible wire electrode implantation device, such as Figure 5 As shown, the following steps are included: Step S510: Determine the implantation area 81 of the flexible wire electrode 5 and the installation area 82 of the brain-computer interface electronic module 4.

[0065] Step S520: The second mounting mechanism 2 is connected to the first mounting mechanism 1, the brain-computer interface electronic module 4 is connected to the first mounting mechanism 1, and the flexible wire electrode 5 of the brain-computer interface electronic module 4 is connected to the second mounting mechanism 2, so that the initial distance between the end of the flexible wire electrode 5 and the brain-computer interface electronic module 4 does not exceed the first distance threshold.

[0066] Step S530: Connect the blocking rod mechanism 3 to the first mounting mechanism 1 and / or the second mounting mechanism 2, and the first mounting mechanism 1 is connected to the actuator at the end of the implant robot.

[0067] Step S540 : the implantation robot performs an implantation operation on the flexible wire electrode 5 , so that the flexible wire electrode 5 is detached from the second mounting mechanism 2 and inserted into the implantation area 81 .

[0068] Step S550: remove the blocking lever mechanism 3 and the second mounting mechanism 2 from the first mounting mechanism 1 in sequence.

[0069] Step S560: The implanted robot performs posture adjustment movement so that the brain-computer interface electronic module 4 approaches and aligns with the installation area 82, and the distance between the two is less than the second distance threshold.

[0070] Step S570: Release the brain-computer interface electronic module 4 from the first mounting mechanism 1 so that the brain-computer interface electronic module 4 is connected to the adapter structure 10 in the installation area 82.

[0071] Specifically, Figure 6 As shown, the flexible wire electrode 5 implantation area 81 and the brain-computer interface electronic module 4 installation area 82 are first specified on the implantation target 8. The implantation area 81 of the flexible wire electrode 5 and the installation area 82 of the brain-computer interface electronic module 4 can be adjacent to each other, or can partially overlap or completely overlap each other.

[0072] A channel for implanting the flexible wire electrode 5 is processed in the implantation area 81 of the flexible wire electrode 5. An adaptation structure 10 for the brain-computer interface electronic module 4 is formed by processing or installation in the installation area 82 of the brain-computer interface electronic module 4, so that the brain-computer interface electronic module 4 can be fixedly connected to the implantation target 8 through the adaptation structure 10.

[0073] Preferably, a circular through window with a diameter of 10 mm is processed in the implantation area 81 of the flexible wire electrode 5. A circular groove with a diameter of 20 mm and a depth of 5 mm is processed in the installation area 82 of the brain-computer interface electronic module 4. The distance between the center of the implantation area 81 of the flexible wire electrode 5 and the center of the installation area 82 of the brain-computer interface electronic module 4 is 12 mm.

[0074] The second mounting mechanism 2 is connected to the first mounting mechanism 1, and the brain-computer interface electronic module 4 is connected to the first mounting mechanism 1. The flexible wire electrode 5 of the brain-computer interface electronic module 4 is connected to the second mounting mechanism 2, so that the initial position of the end of the N flexible wire electrodes 5 is controllable, and the distance from the brain-computer interface electronic module 4 does not exceed the first distance threshold.

[0075] The brain-computer interface electronic module 4 is connected to the first mounting mechanism 1 of the first mounting mechanism 1 by mechanical fixation and can be detached after connection. After the upper surface of the brain-computer interface electronic module 4 is attached to the first mounting surface 13 of the first mounting mechanism 1, it is fixed by a clip or a screw.

[0076] The flexible wire electrode 5 of the brain-computer interface electronic module 4 is connected to the second mounting mechanism 2, and the connection method is adhesion fixation or adsorption fixation. A small part of each flexible wire electrode 5 close to the end is connected to the second mounting mechanism 2, and the ring structure of each flexible wire electrode end 51 is suspended in the air, and the distance between the ring structure and the outer edge of the second mounting mechanism 2 is the first extension distance. The flexible wire electrode 5 connected to the second mounting mechanism 2 can be detached from the second mounting mechanism 2 under the action of a small external force.

[0077] Generally, the length of the portion of the flexible wire electrode 5 connected to the second mounting mechanism 2 is 3 mm, and the first extension distance between the ring structure and the outer edge of the second supporting mechanism is 2.5 mm.

[0078] like Figure 6 As shown, the second plug-in column 31 of the blocking rod mechanism 3 is inserted into the second socket of the first mounting mechanism 1, and then tightened with a hand screw. The mounting plate 11 of the first mounting mechanism 1 is inserted into the groove-shaped connecting part 12 of the actuator implanted at the end of the robot, and then fixed with a hand screw.

[0079] like Figure 7 and Figure 8 As shown, the implantation robot performs an implantation operation on N flexible wire electrodes 5. During the implantation operation, the implantation robot controls the precise movement of the implantation needle 7 to sequentially detach the flexible wire electrodes 5 from the second mounting mechanism 2 and insert them into the implantation target 8. The function of the blocking rod mechanism 3 is to constrain the middle part of the flexible wire electrode 5 in the opposite direction of the tip of the implantation needle 7, so as to prevent the flexible wire electrode end 51 from falling off the implantation needle 7 due to movement along the tip of the implantation needle 7. The brain-computer interface electronic module 4, the first mounting mechanism 1 and the blocking rod mechanism 3 do not contact the implantation target 8 during the implantation operation.

[0080] After the flexible wire electrode 5 is implanted, Fig. 9As shown, since the support rod 33 and the second mounting mechanism 2 are located between the brain-computer interface electronic module 4 and the implant target 8, which affects the brain-computer interface electronic module 4 approaching and connecting to the first mounting mechanism 1, the blocking rod mechanism 3 is first removed from the first mounting mechanism 1 and then the second mounting mechanism 2 is removed from the first mounting mechanism 1 and then removed. Preferably, the hand screw is rotated to release the blocking rod mechanism 3 and move the blocking rod mechanism 3 away from the side of the first mounting mechanism 1. The hand screw is rotated to release the second mounting mechanism 2 and move the second mounting mechanism 2 away from the side of the first mounting mechanism 1, as shown in FIG. Fig.10 As shown,.

[0081] After disassembly is complete, Fig.11 As shown, the implant robot performs posture adjustment movement to make the brain-computer interface electronic module 4 approach and align with the adapting structure 10, so that the distance between the brain-computer interface electronic module 4 and the adapting structure 10 is less than the second distance threshold. In this process, the flexible wire electrode 5 will deform with the movement of the brain-computer interface electronic module 4. Since the Young's modulus of the flexible wire electrode 5 is very low, it will not cause pulling or squeezing of the flexible wire electrode end 51 that has been implanted in the target 8. Preferably, the brain-computer interface electronic module 4 is moved to 10 mm above the adapting structure 10 by the movement of the implant robot.

[0082] Finally, the brain-computer interface electronic module 4 is released from the first mounting mechanism 1, and then the brain-computer interface electronic module 4 is connected and fixed to the adapter structure 10. Fastening materials such as titanium nails, bone cement, or adhesives can be used to form a stable and firm connection relationship between the brain-computer interface electronic module 4 and the implant target 8, so as to keep the relative position between the brain-computer interface electronic module 4 and the implant target 8 fixed, and avoid pulling or squeezing the flexible filament electrode 5 connected between the two.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible wire electrode implantation device, characterized in that: include: A first mounting mechanism (1) is used to be connected to an actuator at the end of an implanted robot, wherein a brain-computer interface electronic module (4) having a flexible filament electrode (5) is detachably connected to the bottom of the first mounting mechanism (1); A second mounting mechanism (2) is detachably connected to one side of the first mounting mechanism (1), and a first end of the second mounting mechanism (2) extends toward the bottom of the outer side of the first mounting mechanism (1) so as to be used for adhering the flexible wire-shaped electrode (5); A blocking rod mechanism (3) is detachably connected to the first mounting mechanism (1) and / or the second mounting mechanism (2), wherein a first end of the blocking rod mechanism (3) extends toward the bottom of the outer side of the first mounting mechanism (1), and the first end of the blocking rod mechanism (3) is spaced apart from the first end of the second mounting mechanism (2) to cooperate to form a placement space for the flexible filament electrode (5).

2. The flexible wire electrode implantation device according to claim 1, characterized in that: The first mounting mechanism (1) comprises: a mounting plate (11); A connecting portion (12) is formed on the mounting plate (11), and the second mounting mechanism (2) and the blocking lever mechanism (3) are both detachably connected to one side of the mounting plate (11) via the connecting portion (12), and a first mounting surface (13) for mounting the brain-computer interface electronic module (4) is formed at the bottom of the mounting plate (11).

3. The flexible wire electrode implantation device according to claim 2, characterized in that: The connecting portion (12) is provided with a first socket and a second socket; The second mounting mechanism (2) is provided with a first plug-in column (21) adapted to the first socket, and the blocking lever mechanism (3) is provided with a second plug-in column (31) adapted to the second socket; The second mounting mechanism (2) is detachably connected to the first mounting mechanism (1) via the first plug-in column (21) and the first socket, and the blocking rod mechanism (3) is detachably connected to the first mounting mechanism (1) via the second plug-in column (31) and the second socket.

4. The flexible wire electrode implantation device according to claim 3, characterized in that: The connecting portion (12) is provided with a first fixing hole (14) and a second fixing hole (15); The first fixing hole (14) is in communication with the first socket, so that when the first plug-in column (21) is inserted into the first socket, the first plug-in column (21) can be fixed by arranging a fastener in the first fixing hole (14); The second fixing hole (15) is in communication with the second socket, so that when the second plug-in column (31) is inserted into the second socket, the second plug-in column (31) can be fixed by providing a fastener in the second fixing hole (15).

5. The flexible wire electrode implantation device according to claim 2, characterized in that: One end of the hanging plate (11) is suitable for being inserted into the execution device, and a third fixing hole (16) is provided at a corresponding position, so as to fix the hanging plate (11) and the execution device by arranging fasteners in the execution device and the third fixing hole (16).

6. The flexible wire electrode implantation device according to claim 3, characterized in that: The connecting portion (12) is provided with a plurality of the first sockets and a plurality of the second sockets; The second mounting mechanism (2) is provided with a plurality of the first plug-in posts (21) corresponding one-to-one to the first sockets, and the blocking lever mechanism (3) is provided with a plurality of the second plug-in posts (31) corresponding one-to-one to the second sockets.

7. The flexible wire electrode implantation device according to claim 3, characterized in that: The second mounting mechanism (2) comprises: A first connecting member (22) provided with the first plug-in column (21) for being detachably connected to one side of the hanging plate (11); A hanging member (23) extending in the width direction of the hanging plate (11), with a second hanging surface (26) formed at the bottom for adhering the flexible wire-shaped electrode (5); A first connecting rod (24) is arranged between the first connecting member (22) and the hanging member (23), one end of which is connected to the first connecting member (22) and the other end of which is connected to the hanging member (23).

8. The flexible wire electrode implantation device according to claim 7, characterized in that: The blocking rod mechanism (3) comprises: A second connecting member (32) provided with the second plug-in column (31) for being detachably connected to one side of the hanging plate (11); Support rods (33) are arranged at intervals at the bottom of the hanging member (23) and cooperate with the hanging member (23) to form the placement space; A second connecting rod (33) is arranged between the second connecting member (32) and the supporting rod (33), one end of which is connected to the second connecting member (32) and the other end of which is connected to the supporting rod (33).

9. The flexible wire electrode implantation device according to claim 8, characterized in that: The first connector (22) is provided with a through hole (25) adapted to the second plug-in column (31); the second plug-in column (31) passes through the through hole (25) and is arranged in the second socket, so that the second connector (32) is connected to the outside of the first connector.

10. A method for implanting a flexible wire electrode, characterized in that: The method for implanting the flexible wire electrode uses the implantation device of the flexible wire electrode as claimed in any one of claims 1 to 8, comprising the following steps: Determining an implantation area (81) of the flexible wire electrode (5) and an installation area (82) of the brain-computer interface electronic module (4); The second mounting mechanism (2) is connected to the first mounting mechanism (1), the brain-computer interface electronic module (4) is connected to the first mounting mechanism (1), and the flexible wire electrode (5) of the brain-computer interface electronic module (4) is connected to the second mounting mechanism (2), so that the initial distance between the end of the flexible wire electrode (5) and the brain-computer interface electronic module (4) does not exceed a first distance threshold; The blocking rod mechanism (3) is connected to the first mounting mechanism (1) and / or the second mounting mechanism (2), and the first mounting mechanism (1) is connected to an actuator at the end of the implant robot; The implantation robot performs an implantation operation on the flexible wire electrode (5), so that the flexible wire electrode (5) is detached from the second mounting mechanism (2) and inserted into the implantation area (81); Sequentially removing the blocking rod mechanism (3) and the second mounting mechanism (2) from the first mounting mechanism (1); The implanted robot performs posture adjustment movement so that the brain-computer interface electronic module (4) approaches and aligns with the installation area (82), and the distance between the two is less than a second distance threshold; The brain-computer interface electronic module (4) is released from the first mounting mechanism (1) so that the brain-computer interface electronic module (4) is connected to the adapter structure in the installation area (82).

Images