Method and apparatus for implanting flexible filamentary electrodes

Abstract

The application provides an implantation method and device of a flexible filament electrode, and the device comprises: a first mounting mechanism, the bottom of the first mounting mechanism is detachably connected with a brain-computer interface electronic module with a flexible filament electrode; a second mounting mechanism is detachably connected on one side of the first mounting mechanism, and the first end of the second mounting mechanism extends towards the bottom of the outside of the first mounting mechanism; a stop lever mechanism is detachably connected on the first mounting mechanism and / or the second mounting mechanism, the first end of the stop lever mechanism extends towards the bottom of the outside of the first mounting mechanism, and the first end of the stop lever mechanism is arranged in a spaced manner with the first end of the second mounting mechanism. The implantation device of the flexible filament electrode provided by the application is connected with an execution device at the end of an implantation robot through the first mounting mechanism, and can be reliably fixed at a specified position on the skull during the implantation process.

Description

Technical Field

[0001] This invention relates to the field of brain-computer interface technology, and in particular to a method and apparatus for implanting flexible filament electrodes. Background Technology

[0002] Flexible filamentous electrodes are extremely soft, thin, and conductive neural electrodes that, once implanted in the brain, can acquire or stimulate brain signals, playing a crucial role in implantable brain-computer interface systems. To minimize brain trauma during implantation and improve long-term biocompatibility, the material of flexible filamentous electrodes is extremely soft. This means that the stiffness of the electrodes cannot support their own weight and shape; without external assistance, the shape and end position of the flexible filamentous electrodes are uncontrollable.

[0003] Most existing flexible filament electrode implantation technologies adopt a "sewing machine" approach, where a rigid implantation needle hooks onto the loop structure at the end of the flexible filament electrode. The needle, along with the flexible filament electrode, is inserted into the brain, and finally, the needle is withdrawn from the brain separately, leaving the end of the flexible filament electrode inside. The brain-computer interface (BCI) electronic module connects to the flexible filament electrode and is responsible for signal amplification, A / D conversion, and data communication. It needs to be reliably fixed to the skull. Besides the two core steps of aligning the implantation needle and the flexible filament electrode and inserting it into the target, the complete implantation process also involves three key technologies: 1) pre-positioning the flexible electrode wire near the target; 2) preventing the flexible filament electrode from detaching from the implantation needle due to gravity and external interference; and 3) fixing the BCI electronic module connected to the flexible filament electrode near the target. These three key technologies significantly affect the reliability, time efficiency, and ease of use of flexible filament electrode implantation. Existing technologies struggle to achieve reliability, efficiency, and ease of use simultaneously, and most only consider the implantation of flexible filament electrodes without addressing how to connect and fix the brain-computer interface electronic module to a designated location on the skull.

[0004] Therefore, there is an urgent need for a reliable, efficient, and easy-to-use method and device for implanting flexible filament electrodes to solve the above problems. Summary of the Invention

[0005] This invention provides a method and apparatus for implanting flexible filament electrodes, which solves the problems of implanting flexible filament electrodes and connecting and fixing brain-computer interface electronic modules to designated positions on the skull.

[0006] This invention provides an implantation device for a flexible filament electrode, comprising:

[0007] A first mounting mechanism is used to connect to an actuator at the end of an implanted robot. The bottom of the first mounting mechanism is detachably connected to a brain-computer interface electronic module with flexible filamentary electrodes.

[0008] 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 toward the bottom outside the first mounting mechanism for attaching the flexible filamentous electrode.

[0009] A stop mechanism is detachably connected to the first mounting mechanism and / or the second mounting mechanism. The first end of the stop mechanism extends toward the bottom outside the first mounting mechanism. The first end of the stop mechanism and the first end of the second mounting mechanism are spaced apart to cooperate in forming a placement space for the flexible filament electrode.

[0010] According to the present invention, an implantation device for a flexible filament electrode is provided, wherein the first mounting mechanism includes: a mounting plate;

[0011] A connecting portion is formed on the mounting plate, and the second mounting mechanism and the stop mechanism are 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.

[0012] According to the present invention, a flexible filament electrode implantation device is provided, wherein the connecting portion is provided with a first insertion port and a second insertion port;

[0013] The second mounting mechanism is provided with a first plug-in post adapted to the first socket, and the stop mechanism is provided with a second plug-in post adapted to the second socket;

[0014] The second mounting mechanism is detachably connected to the first mounting mechanism via the first plug and the first socket, and the stop mechanism is detachably connected to the first mounting mechanism via the second plug and the second socket.

[0015] According to the present invention, an implantation device for a flexible filament electrode is provided, wherein the connecting portion is provided with a first fixing hole and a second fixing hole;

[0016] The first fixing hole communicates with the first socket so that when the first plug is inserted into the first socket, the first plug is fixed by setting a fastener in the first fixing hole;

[0017] The second fixing hole communicates with the second socket so that when the second plug is inserted into the second socket, the second plug is fixed by a fastener provided in the second fixing hole.

[0018] According to the present invention, an implantation device for a flexible filament electrode is provided, wherein one end of the mounting plate is adapted to be inserted into an execution device, and a third fixing hole is provided at the corresponding position, so as to fix the mounting plate and the execution device by setting fasteners in the execution device and the third fixing hole.

[0019] According to the present invention, a flexible filament electrode implantation device is provided, wherein the connecting portion is provided with a plurality of first insertion ports and a plurality of second insertion ports;

[0020] The second mounting mechanism is provided with a plurality of first plug-in pins corresponding one-to-one with the first plug-in port, and the stop mechanism is provided with a plurality of second plug-in pins corresponding one-to-one with the second plug-in port.

[0021] According to the present invention, an implantation device for a flexible filament electrode includes a second mounting mechanism comprising:

[0022] The first connector is provided with the first insertion post for detachable connection to one side of the mounting plate;

[0023] The mounting element extends in the width direction of the mounting plate and has a second mounting surface formed at the bottom for adhering the flexible filamentous electrode.

[0024] The first connecting rod is disposed between the first connecting member and the hanging member, with one end connected to the first connecting member and the other end connected to the hanging member.

[0025] According to the present invention, an implantation device for a flexible filament electrode includes a stop mechanism comprising:

[0026] The second connector is provided with the second insertion post for detachable connection to one side of the mounting plate;

[0027] Support rods are spaced apart at the bottom of the hanger, forming the mounting space in conjunction with the hanger;

[0028] The second connecting rod is disposed between the second connecting member and the support rod, with one end connected to the second connecting member and the other end connected to the support rod.

[0029] According to the present invention, a flexible filament electrode implantation device is provided, wherein the first connector is provided with a through hole adapted to the second insertion post, and the second insertion post is disposed in the second socket through the through hole, so that the second connector is connected to the outside of the first insertion member.

[0030] The present invention also provides a method for implanting a flexible filament electrode, the method utilizing the implantation device for the flexible filament electrode, comprising the following steps:

[0031] Determine the implantation area for the flexible filament electrode and the installation area for the brain-computer interface electronic module;

[0032] The second mounting mechanism is connected to the first mounting mechanism, and the brain-computer interface electronic module is connected to the first mounting mechanism. The flexible filament 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 filament electrode and the brain-computer interface electronic module does not exceed the first distance threshold.

[0033] The stop mechanism is connected to the first mounting mechanism and / or the second mounting mechanism, and the first mounting mechanism is connected to the actuator implanted at the end of the robot.

[0034] The implantation robot performs the implantation operation on the flexible filament electrode, causing the flexible filament electrode to detach from the second mounting mechanism and be inserted into the implantation area;

[0035] Remove the stop mechanism and the second mounting mechanism from the first mounting mechanism in sequence;

[0036] The implanted robot performs pose adjustment movements to bring the brain-computer interface electronic module closer to and aligned with the installation area, and the distance between the two is less than a second distance threshold.

[0037] Release the brain-computer interface electronic module from the first mounting mechanism so that the brain-computer interface electronic module can be connected to the adapter structure in the installation area.

[0038] The flexible filament electrode implantation device and method provided by this invention connects to the actuator at the end of an implantation robot via a first mounting mechanism, enabling reliable fixation of the electrode at a designated position on the skull during implantation. Simultaneously, the second mounting mechanism and the stop mechanism provide a stable and controllable placement space for the flexible filament electrode, effectively preventing it from detaching due to gravity or external interference during implantation, thereby improving implantation reliability. The detachable connection between the first and second mounting mechanisms, and the flexible configuration of the stop mechanism, allow operators to quickly and accurately complete the electrode mounting, implantation, and fixation, significantly shortening surgical time and improving implantation efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the overall structure of the implantation device for the flexible filament electrode provided in an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the first mounting mechanism provided in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the second mounting mechanism provided in an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the stop mechanism provided in an embodiment of the present invention.

[0044] Figure 5 This is a schematic flowchart of the implantation method of the flexible filament electrode provided in an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the implantation target provided in an embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of a brain-computer interface electronic module being installed on the flexible filament electrode implantation device provided in an embodiment of the present invention.

[0047] Figure 8 This is a schematic diagram of the implantation of the first flexible filament electrode provided in an embodiment of the present invention.

[0048] Figure 9 This is a schematic diagram of implanting all flexible filament electrodes according to an embodiment of the present invention.

[0049] Figure 10 This is a schematic diagram of disassembling the second mounting mechanism and the stop mechanism provided in an embodiment of the present invention.

[0050] Figure 11 This is a schematic diagram of the brain-computer interface electronic module approaching and aligning with the adaptation structure provided in the embodiment of the present invention.

[0051] Figure 12 This is a schematic diagram showing the connection and fixation of the brain-computer interface electronic module and the adapter structure provided in the embodiment of the present invention.

[0052] Figure label:

[0053] 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 insertion post; 22. First connector; 23. Mounting part; 24. First connecting rod; 25. Through hole; 26. Second mounting surface; 3. Stop mechanism; 31. Second insertion post; 32. Second connector; 33. Support rod; 34. Second connecting rod; 4. Brain-computer interface electronic module; 5. Flexible filament electrode; 51. Flexible filament electrode end; 6. Corresponding part of the actuator; 7. Implantation needle; 8. Implantation target; 81. Implantation area; 82. Installation area; 10. Adaptor structure. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0055] The following is combined Figures 1-12 This invention describes the implantation method and apparatus for flexible filamentous electrodes. Specific embodiments and application scenarios are used to illustrate the implantation method and apparatus for flexible filamentous electrodes provided by this invention in detail.

[0056] This application provides an implantation device for a flexible filament electrode, such as... Figures 1 to 6 As shown, the implantation device for the flexible filament electrode includes:

[0057] The first mounting mechanism 1 is used to connect to the actuator at the end of the implanted robot. The bottom of the first mounting mechanism 1 is detachably connected to a brain-computer interface electronic module 4 with flexible filament electrodes 5.

[0058] The second mounting mechanism 2 is detachably connected to one side of the first mounting mechanism 1. The first end of the second mounting mechanism 2 extends toward the bottom outside the first mounting mechanism 1 for attaching the flexible filament electrode 5.

[0059] The stop lever mechanism 3 is detachably connected to the first mounting mechanism 1 and / or the second mounting mechanism 2. The first end of the stop lever mechanism 3 extends toward the bottom outside the first mounting mechanism 1. The first end of the stop lever mechanism 3 and the first end of the second mounting mechanism 2 are spaced apart to form a space for the placement of the flexible filament electrode 5.

[0060] 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 flexible filamentous electrodes 5 is detachably connected to its 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 stable mounting of the brain-computer interface electronic module 4. A second mounting mechanism 2 is detachably connected to one side of the first mounting mechanism 1 for attaching the flexible filamentous electrodes 5. A stop mechanism 3 cooperates with the second mounting mechanism 2 to form a space for the placement of the flexible filamentous electrodes 5. The stop mechanism 3 is detachably connected to the first mounting mechanism 1 and / or the second mounting mechanism 2, with its first end extending outwards towards the bottom of the first mounting mechanism 1 and spaced apart from the first end of the second mounting mechanism 2.

[0061] The orientation of the implanted device is as follows Figure 1As shown, it has six directions: up, down, front, back, left, and right. When the implantation device is connected to the actuator at the end of the implantation robot, the actuator is located above the implantation device, and the implantation area 81 is located below the implantation device.

[0062] The flexible filament electrode implantation device provided in this embodiment is connected to the actuator at the end of the implantation robot via a first mounting mechanism 1, enabling reliable fixation of the electrode at a designated position on the skull during implantation. Simultaneously, the second mounting mechanism 2 and the stop mechanism 3 provide a stable and controllable placement space for the flexible filament electrode 5, effectively preventing it from detaching due to gravity and external interference during implantation, thereby improving implantation reliability. The detachable connection between the first and second mounting mechanisms 1 and 2, and the flexible configuration of the stop mechanism 3, allow operators to quickly and accurately complete the mounting, positioning, and implantation of the electrode, significantly shortening surgical time and improving implantation efficiency.

[0063] In some embodiments, such as Figures 1 to 4 As shown, the first mounting mechanism 1 includes a mounting plate 11 with a connecting portion 12 formed on it. The second mounting mechanism 2 and the stop mechanism 3 are both detachably connected to one side of the mounting plate 11 via the connecting portion 12, primarily for temporary mechanical connection. The bottom of the mounting plate 11 has a first mounting surface 13 for mounting the brain-computer interface electronic module 4, allowing the brain-computer interface electronic module 4 to be smoothly transferred from the mounting plate 11 to the adapter structure 10 implanted on the target 8 below.

[0064] Specifically, the mounting plate 11 provides a planar or near-planar structure for connecting other components (such as the second mounting mechanism 2 and the stop 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 structure can maintain stability and integrity during implantation.

[0065] The connecting part 12 is formed on the mounting plate 11 and is used for temporary mechanical connection with the second mounting mechanism 2 and the stop mechanism 3. The connecting part 12 may adopt a structure of threaded hole, snap-fit, slot, etc., so as to cooperate with corresponding connectors (such as screws, snap-fits, pins, etc.) to achieve a detachable connection. Through the connecting part 12, the second mounting mechanism 2 and the stop 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.

[0066] 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 dimensions that match the brain-computer interface electronic module 4 to ensure that the electronic module can be securely mounted on the mounting plate 11. Optionally, for the brain-computer interface electronic module 4, which has a flat upper side in this example, the first mounting surface 13 is also flat. If the upper side of the brain-computer interface electronic module 4 is curved or irregular in shape, then the first mounting surface 13 should also be a matching curved or irregular shape.

[0067] In addition, the first mounting surface 13 may also use some special materials or coatings to improve the friction or adhesion between the electronic module and the electronic module, so as to prevent the electronic module from falling off or sliding during the implantation process.

[0068] The second mounting mechanism 2 is detachably connected to one side of the mounting plate 11 via the connecting part 12, and is used to adhere the flexible filamentous electrode 5. The stop mechanism 3 is also detachably connected to the mounting plate 11 via the connecting part 12 (it may be directly connected to the mounting plate 11, or it may be indirectly connected via the second mounting mechanism 2), and cooperates with the second mounting mechanism 2 to form a space for placing the flexible filamentous electrode 5.

[0069] In some embodiments, an adjustment mechanism (such as a sliding groove, a rotating shaft, etc.) may be added to the stop mechanism 3 to adjust the interval between it and the second mounting mechanism 2 as needed, thereby adapting to different installation requirements.

[0070] In some embodiments, such as Figures 1 to 4 As shown, the connecting part 12 is provided with a first socket and a second socket; the second mounting mechanism 2 is provided with a first plug post 21 adapted to the first socket, and the stop mechanism 3 is provided with a second plug post 31 adapted to the second socket; the second mounting mechanism 2 is detachably connected to the first mounting mechanism 1 through the first plug post 21 and the first socket, and the stop mechanism 3 is detachably connected to the first mounting mechanism 1 through the second plug post 31 and the second socket.

[0071] In this embodiment, the connecting part 12 is provided with two independent sockets—a first socket and a second socket—which are used to connect with the second mounting mechanism 2 and the stop mechanism 3, respectively. The sockets may adopt standardized sizes and shapes to achieve seamless mating with the corresponding insertion posts. The second mounting mechanism 2 and the stop mechanism 3 are respectively provided with insertion posts adapted to the first and second sockets. The insertion posts have contours and dimensions that match the sockets to ensure they can be tightly inserted into the sockets and achieve a secure connection.

[0072] To achieve a compact structure and save installation space, the first and second sockets are designed to partially overlap. This design reduces the area occupied by the connector 12 on the mounting plate 11, making the entire implantation device more compact and lightweight. The overlap of the socket positions can be achieved in various ways, such as designing the two sockets as adjacent but partially overlapping rectangular or circular holes.

[0073] In some embodiments, such as Figures 1 to 4 As shown, the connecting part 12 is provided with a first fixing hole 14 and a second fixing hole 15; the first fixing hole 14 communicates with the first socket so that when the first plug 21 is inserted into the first socket, the first plug 21 is fixed by a fastener provided in the first fixing hole 14; the second fixing hole 15 communicates with the second socket so that when the second plug 31 is inserted into the second socket, the second plug 31 is fixed by a fastener provided in the second fixing hole 15.

[0074] Specifically, the connecting part 12 is provided with two independent fixing holes—a first fixing hole 14 and a second fixing hole 15—which communicate with the first socket and the second socket, respectively. The design of the fixing holes allows the plug to be securely fixed within the socket using fasteners (such as screws, bolts, etc.) after it is inserted. The fasteners provide additional fixing force to ensure the stability and reliability of the plug within the socket. When the fastener is screwed into the fixing hole and pressed firmly against the plug, it generates an inward clamping force, thereby preventing the plug from loosening or falling out within the socket.

[0075] In some embodiments, such as Figures 1 to 4 As shown, one end of the mounting plate 11 is adapted to be inserted into the actuator, and a third fixing hole 16 is provided at the corresponding position, so as to fix the mounting plate 11 and the actuator by setting fasteners in the actuator and the third fixing hole 16.

[0076] In this embodiment, one end of the mounting plate 11 is specially designed to allow it to be smoothly inserted into the corresponding slot or opening in the actuator, so as to establish a stable mechanical connection between the mounting plate 11 and the actuator, thereby ensuring that the entire implantation device can maintain stability and reliability when performing tasks.

[0077] At one end of the mounting plate 11 that is inserted into the actuator, one or more third fixing holes 16 are provided. These fixing holes are used to accommodate fasteners (such as screws, bolts, etc.) to securely fix the mounting 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 mounting plate 11 to ensure optimal fixation and stability. Fasteners (such as screws or bolts) are screwed into the third fixing holes 16 and pressed tightly against the corresponding part 6 of the actuator, thereby providing additional fixing force. This fixing force ensures the stability and reliability of the mounting plate 11 in the actuator, preventing loosening or detachment during implantation or use.

[0078] In one example, such as Figures 1 to 4 As shown, the connecting part 12 is provided with a plurality of first sockets and a plurality of second sockets; the second mounting mechanism 2 is provided with a first plug-in post 21 corresponding to each of the first sockets, and the stop mechanism 3 is provided with a plurality of second plug-in posts 31 corresponding to each of the second sockets.

[0079] In this embodiment, multiple first sockets and multiple second sockets may be distributed on the connecting part 12 in a specific arrangement (such as linear arrangement, matrix arrangement, etc.). The spacing between the multiple first sockets and multiple second sockets may be customized according to the size and shape of the plug-in post to ensure that the plug-in post can be tightly inserted into the socket and achieve a stable connection.

[0080] The second mounting mechanism 2 is equipped with a first plug-in post 21 that corresponds one-to-one with the first socket, and the stop mechanism 3 is equipped with a second plug-in post 31 that corresponds one-to-one with the second socket. This one-to-one correspondence design ensures that each socket has a corresponding plug-in post for connection, thereby improving the reliability and stability of the connection.

[0081] Depending on actual needs, the plug-in posts on the second mounting mechanism 2 and the stop mechanism 3 may have different shapes, sizes, and materials. For example, the plug-in posts may be cylindrical, conical, rectangular, or other shapes to accommodate the design requirements of different sockets.

[0082] In one example, such as Figure 3 As shown, the second mounting mechanism 2 includes: a first connector 22, a mounting member 23, and a first connecting rod 24. The first connector 22 is provided with a first insertion post 21 for detachably connecting to one side of the mounting plate 11; the mounting member 23 extends in the width direction of the mounting plate 11, and a second mounting surface 26 for adhering the flexible filament electrode 5 is formed at its bottom; the first connecting rod 24 is generally inclined between the first connector 22 and the mounting member 23, with one end connected to the first connector 22 and the other end connected to the mounting member 23.

[0083] Specifically, the first connector 22 is the main connecting part of the second mounting mechanism 2. It has a first insertion post 21 for detachable connection with one side of the mounting plate 11. The mounting member 23 is the part of the second mounting mechanism 2 used to adhere the flexible filamentous 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 filamentous electrode 5. In this embodiment, the length of the second mounting surface 26 is 12mm, allowing multiple flexible filamentous electrodes 5 to be adhered parallel to each other at a certain interval on the second mounting surface 26. The width of the second mounting surface 26 is 3mm, so that the length of the portion of each flexible filamentous electrode 5 that adheres to the second mounting surface 26 is 3mm. The first connecting rod 24 is inclinedly disposed between the first connector 22 and the mounting member 23, with one end connected to the first connector 22 and the other end connected to the mounting member 23.

[0084] In one example, such as Figure 4 As shown, the stop mechanism 3 includes: a second connector 32, a support rod 33, and a second connecting rod 34. The second connector 32 is provided with a second insertion post 31 for detachable connection to one side of the mounting plate 11; the support rod 33 is spaced apart at the bottom of the mounting plate 23, forming a placement space with the mounting plate 23; the second connecting rod 34 is generally inclined between the second connector 32 and the support rod 33, with one end connected to the second connector 32 and the other end connected to the support rod 33.

[0085] In this embodiment, the design of the stop mechanism 3 takes into account both detachability and stability. The stop mechanism 3 can be easily connected to the mounting plate 11 via the second insertion post 31 on the second connector 32, enabling quick installation and disassembly. The selection of the length and diameter of the support rod 33 is likely based on a comprehensive consideration of structural strength, weight, and space. The support rod 33 is a slender cylinder with a smooth surface. The support rod 33 has a length of 11mm and a cross-sectional diameter of 1.5mm, ensuring sufficient strength while reducing material usage and weight.

[0086] 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, with a front-to-back distance of the first distance, and the second mounting plane is located below the first mounting plane, with a vertical distance of the second distance. The first distance and the second distance cause the flexible filament electrode 5 between the second mounting plane and the brain-computer interface electronic module 4 to bend appropriately. Preferably, both the first distance and the second distance are set to 1 cm.

[0087] After the stop 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 vertical distance between the upper edge of the support rod 33 and the second mounting surface 26 is the third distance. This allows the flexible filament electrode 5 to be supported by the support rod 33 promptly after detaching from the second mounting surface 26. Preferably, the third distance is set to 1 mm.

[0088] It needs to be stated that yes, such as Figure 3 and Figure 4 As shown, the first connector 22 is provided with a through hole 25 that is adapted to the second plug post 31. The second plug post 31 passes through the through hole 25 and is disposed in the second socket so that the second connector 32 is connected to the outside of the first connector.

[0089] In practical applications, the second insertion post 31 passes through the through hole 25 on the first connector 22 and is inserted into the pre-set second socket on the mounting plate 11. Thus, the second connector 32 is securely connected to the outside of the first connector 22 (and the mounting plate 11) through the cooperation of the second insertion post 31 and the through hole 25, and the fixing effect of the second socket. Due to the tight fit between the through hole 25 and the second insertion post 31, and the fixing effect of the second socket on the second insertion post 31, this connection method provides excellent stability. It ensures a secure connection between the stop mechanism 3 and the second mounting mechanism 2 on the mounting plate 11, thereby improving the reliability and durability of the entire implantation device.

[0090] This embodiment also provides a method for implanting a flexible filament electrode, which utilizes the aforementioned flexible filament electrode implantation device, such as... Figure 5 As shown, it includes the following steps:

[0091] Step S510: Determine the implantation area 81 of the flexible filament electrode 5 and the installation area 82 of the brain-computer interface electronic module 4.

[0092] 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 filament 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 filament electrode 5 and the brain-computer interface electronic module 4 does not exceed the first distance threshold.

[0093] Step S530: Connect the stop mechanism 3 to the first mounting mechanism 1 and / or the second mounting mechanism 2, wherein the first mounting mechanism 1 is connected to the actuator at the end of the implanted robot.

[0094] Step S540: The implantation robot performs an implantation operation on the flexible filament electrode 5, causing the flexible filament electrode 5 to detach from the second mounting mechanism 2 and be inserted into the implantation area 81.

[0095] Step S550: Sequentially remove the stop mechanism 3 and the second mounting mechanism 2 from the first mounting mechanism 1.

[0096] Step S560: The implanted robot performs a pose 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.

[0097] 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 can be connected to the adapter structure 10 in the installation area 82.

[0098] Specifically, such as Figure 6 As shown, the implantation area 81 of the flexible filament electrode 5 and the mounting area 82 of the brain-computer interface electronic module 4 are first designated on the implantation target 8. The implantation area 81 of the flexible filament electrode 5 and the mounting area 82 of the brain-computer interface electronic module 4 can be adjacent to each other, or they can partially or completely overlap.

[0099] A channel for implanting the flexible filament electrode 5 is fabricated in the implantation area 81. An adapter structure 10 for the brain-computer interface electronic module 4 is formed in the mounting area 82 of the brain-computer interface electronic module 4 through fabrication or installation, allowing the brain-computer interface electronic module 4 to be fixedly connected to the implantation target 8 via the adapter structure 10.

[0100] Preferably, a circular through-hole with a diameter of 10 mm is machined in the implantation area 81 of the flexible filament electrode 5. A circular groove with a diameter of 20 mm and a recess of 5 mm is machined in the mounting area 82 of the brain-computer interface electronic module 4. The distance between the center of the implantation area 81 of the flexible filament electrode 5 and the center of the mounting area 82 of the brain-computer interface electronic module 4 is 12 mm.

[0101] 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 filamentous electrodes 5 of the brain-computer interface electronic module 4 are connected to the second mounting mechanism 2, so that the initial position of the ends of the N flexible filamentous electrodes 5 is controllable, and the distance between them and the brain-computer interface electronic module 4 does not exceed the first distance threshold.

[0102] The brain-computer interface electronic module 4 is connected to the first mounting mechanism 1 via mechanical fixation and is detachable after connection. 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 and then secured with clips or screws.

[0103] The flexible filamentary electrodes 5 of the brain-computer interface electronic module 4 are connected to the second mounting mechanism 2 via adhesive or adsorption fixation. A small portion near the end of each flexible filamentary electrode 5 is connected to the second mounting mechanism 2, and the annular structure at the end 51 of each flexible filamentary electrode is suspended, with the distance between the annular structure and the outer edge of the second mounting mechanism 2 being the first extension distance. The flexible filamentary electrodes 5 connected to the second mounting mechanism 2 can detach from the second mounting mechanism 2 under relatively small external forces.

[0104] Generally, the length of the flexible filament electrode 5 connected to the second mounting mechanism 2 is 3mm, and the first extension distance between the annular structure and the outer edge of the second support mechanism is 2.5mm.

[0105] like Figure 6 As shown, the second insertion post 31 of the stop mechanism 3 is inserted into the second insertion port of the first mounting mechanism 1, and then tightened by hand. The mounting plate 11 of the first mounting mechanism 1 is inserted into the slot-shaped connecting part 12 of the actuator at the end of the robot, and then fixed by hand.

[0106] like Figure 7 and Figure 8 As shown, the implantation robot implants N flexible filamentous electrodes 5. During the implantation process, the robot precisely controls the movement of the implantation needle 7 to detach the flexible filamentous electrodes 5 sequentially from the second mounting mechanism 2 and insert them into the implantation target 8. The function of the stop mechanism 3 is to provide positional constraint on the middle portion of the flexible filamentous electrode 5 in the opposite direction to the tip of the implantation needle 7, preventing the end 51 of the flexible filamentous electrode from falling off the implantation needle 7 due to movement in the direction of the tip of the implantation needle 7. The brain-computer interface electronic module 4, the first mounting mechanism 1, and the stop mechanism 3 do not contact the implantation target 8 during the implantation process.

[0107] After the implantation of the flexible filament electrode 5 is completed, such as Figure 9 As shown, since the support rod 33 and the second mounting mechanism 2 are located between the brain-computer interface electronic module 4 and the implanted target 8, affecting the brain-computer interface electronic module 4's approach and connection to the first mounting mechanism 1, the stop 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 stop mechanism 3 is released by rotating the hand-tightening screw, and the stop mechanism 3 is moved away from the side of the first mounting mechanism 1. The second mounting mechanism 2 is then released by rotating the hand-tightening screw, and the second mounting mechanism 2 is moved away from the side of the first mounting mechanism 1, as shown. Figure 10 As shown.

[0108] After disassembly, such as Figure 11As shown, the implantation robot performs pose adjustment movements to bring the brain-computer interface electronic module 4 closer to and align it with the adapter structure 10, ensuring that the distance between the brain-computer interface electronic module 4 and the adapter structure 10 is less than a second distance threshold. During this process, the flexible filamentous electrode 5 deforms as the brain-computer interface electronic module 4 moves. Because the flexible filamentous electrode 5 has a very low Young's modulus, it will not cause pulling or compression on the end portion 51 of the flexible filamentous electrode already implanted in the target 8. Preferably, the brain-computer interface electronic module 4 is moved to a position 10 mm directly above the adapter structure 10 by the movement of the implantation robot.

[0109] 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 between the brain-computer interface electronic module 4 and the implantation target 8, keeping the relative position between the brain-computer interface electronic module 4 and the implantation target 8 fixed, and avoiding pulling or squeezing of the flexible filament electrode 5 connected between the two.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An implantation device for a flexible filament electrode, characterized in that, include: A first mounting mechanism (1) is used to connect to the actuator at the end of the implanted robot. The bottom of the first mounting mechanism (1) is detachably connected to a brain-computer interface electronic module (4) with flexible filament electrodes (5). The first mounting mechanism (1) includes: a mounting plate (11); The second mounting mechanism (2) is detachably connected to one side of the first mounting mechanism (1). The first end of the second mounting mechanism (2) extends toward the bottom outside the first mounting mechanism (1) for attaching the flexible filament electrode (5). The second mounting mechanism (2) includes: a first connector (22) and a mounting member (23). A stop bar mechanism (3) is detachably connected to the first mounting mechanism (1) and the second mounting mechanism (2). The first end of the stop bar mechanism (3) extends toward the bottom outside the first mounting mechanism (1). The first end of the stop bar mechanism (3) and the first end of the second mounting mechanism (2) are spaced apart to cooperate in forming a placement space for the flexible filament electrode (5). The stop mechanism (3) includes: a second connector (32), a support rod (33), and a second connecting rod (33); The second connector (32) is provided with a second insertion post (31) for detachably connecting to one side of the mounting plate (11); the support rod (33) is spaced apart at the bottom of the mounting member (23) and forms the placement space with the mounting member (23); the second connecting rod (33) is disposed between the second connector (32) and the support rod (33), with one end connected to the second connector (32) and the other end connected to the support rod (33); The first connector (22) is provided with a through hole (25) adapted to the second plug post (31). The second plug post (31) passes through the through hole (25) and is disposed on the connecting part (12) of the hanging plate (11) so that the second connector (32) is connected to the outside of the first connector.

2. The implantation device for the flexible filament electrode according to claim 1, characterized in that, The second mounting mechanism (2) and the stop mechanism (3) are both detachably connected to one side of the mounting plate (11) via the connecting part (12). The bottom of the mounting plate (11) has a first mounting surface (13) for mounting the brain-computer interface electronic module (4).

3. The implantation device for the flexible filament electrode according to claim 2, characterized in that, The connecting part (12) is provided with a first socket and a second socket; The second mounting mechanism (2) is provided with a first plug-in post (21) adapted to the first socket, and the stop mechanism (3) is provided with a second plug-in post (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 post (21) and the first socket, and the stop mechanism (3) is detachably connected to the first mounting mechanism (1) via the second plug-in post (31) and the second socket.

4. The implantation device for the flexible filament electrode according to claim 3, characterized in that, The connecting part (12) is provided with a first fixing hole (14) and a second fixing hole (15); The first fixing hole (14) is connected to the first socket so that when the first plug (21) is inserted into the first socket, the first plug (21) is fixed by a fastener in the first fixing hole (14); The second fixing hole (15) communicates with the second socket so that when the second plug (31) is inserted into the second socket, the second plug (31) is fixed by providing a fastener in the second fixing hole (15).

5. The implantation device for the flexible filament electrode according to claim 2, characterized in that, One end of the mounting plate (11) is adapted to be inserted into the actuator, and a third fixing hole (16) is provided at the corresponding position, so as to fix the mounting plate (11) and the actuator by setting fasteners in the actuator and the third fixing hole (16).

6. The implantation device for the flexible filament electrode according to claim 3, characterized in that, The second mounting mechanism (2) includes: The first connector (22) is provided with the first plug post (21) for detachably connecting to one side of the mounting plate (11); The mounting member (23) extends in the width direction of the mounting plate (11) and has a second mounting surface (26) at the bottom for adhering the flexible filament electrode (5). The first link (24) is disposed between the first connector (22) and the hanger (23), with one end connected to the first connector (22) and the other end connected to the hanger (23).

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