Implanting and taking device for super-flexible electrode and control method

Abstract

The invention discloses a super-flexible electrode-oriented implanting and taking device and a control method, and relates to the technical field of brain-computer interfaces, the super-flexible electrode-oriented implanting and taking device comprises a connector, a micro-needle module and a micro-clamp module, the micro-clamp module is fixed to a right interface of the connector, a cylindrical groove and a fastening screw hole are reserved in the upper half part of the connector, and the micro-needle module is fixed to the right interface of the connector. The micro-needle module is used for an interface at the tail end of any multi-degree-of-freedom motion platform and comprises a side supporting plate, a horizontal force sensor, a hollow guide rod, a needle driver fixing block and a needle driver. According to the invention, the purpose of installing an implantation operation is to sequentially clamp and strip single super-flexible electrodes from an electrode storage block, transfer the single super-flexible electrodes to a position above brain tissue and implant the single super-flexible electrodes to a target depth, and a micro-needle is supported and guided when moving in a vertical direction, so that the super-flexible electrodes and the micro-needle are separated from each other. And a horizontal force sensor and a vertical force sensor are integrated to feed back the stress condition of the microneedle in real time, so that the safety and reliability of implanting and taking actions of the microneedle are jointly monitored.

Description

Technical Field

[0001] The present invention relates to the field of brain-computer interface technology, and specifically to an implantation device and a control method for ultra-flexible electrodes. Background Art

[0002] The main function of the implant device is to implant flexible neural electrodes into the brain tissue of animals such as mice, providing a technical basis for surgery in brain science and neuroscience research. Neural electrodes used for signal acquisition are one of the most critical technologies in the field of brain-computer interface, and are a bridge connecting biological brain tissue and external equipment. Compared with non-invasive neural electrodes, invasive neural electrodes can directly collect neuronal signals. Due to their excellent signal quality in time and space, they have more application prospects in the field of neuroscience. Invasive hard neural probes and thin-film cortical electrodes have been successfully implanted in the human brain and collect EEG signals on a large scale. The electrode implantation technology has become mature. However, considering signal stability, implantation trauma and biocompatibility, the coordinated development of flexibility and miniaturization of neural electrodes provides a better way, especially ultra-flexible electrodes. Ultra-flexible electrodes specifically refer to materials with an elastic modulus of less than 10GPa. There is currently a demand for ultra-flexible electrodes to be implanted in animal brain tissue. It is urgent and necessary to design and develop an implantation device for ultra-flexible electrodes. The device can stably and reliably clamp a single ultra-flexible electrode, facilitate its peeling off from its storage block, and further implant the electrode into the brain tissue, realizing a complete single ultra-flexible electrode implantation process.

[0003] The defects of the existing implantation device are: 1. Patent document CN114420458B discloses a flexible electrode and a preparation method thereof, and a flexible supercapacitor. "The flexible electrode includes a flexible current collector and an active layer bonded to a surface of the flexible current collector; the material of the active layer includes double-shell phase change microcapsules, reduced graphene oxide and a first conductive polymer; wherein the double-shell phase change microcapsules include single-shell phase change microcapsules and a shell coated on the surface of the single-shell phase change microcapsules, and the shell is a second conductive polymer. The flexible electrode provided in the present application has a temperature self-regulation capability on the basis of having good electrochemical properties, so that the flexible electronic components containing the flexible electrode can still maintain good stability when the temperature is too high or too low." However, the existing implantation device does not realize the needle withdrawal action, resulting in the rigid needle being retained in the brain tissue and can only be measured acutely; 2. Patent document CN114981759B discloses a system and method involving a brain-computer interface, "wherein a visual stimulus covering one or more objects is provided, and the visual stimulus has a characteristic modulation. The brain-computer interface measures a neural response to an object viewed by a user. The neural response to the visual stimulus is related to the modulation. The method enables the interface to distinguish between merely viewing a displayed object and an intentional selection of the displayed object (e.g., as a trigger for further action)", but the existing coating reinforcement method for implanting a device alone can only achieve a very limited implant depth, and cannot guarantee the implant position accuracy of the ultra-flexible electrode tip; 3. Patent document CN119200823A discloses a brain-computer interface system and a brain-computer interface device, "including an implant host and a probe connected to the implant host, the probe is used to be implanted in the human brain to obtain EEG signals, and the implant host is used to be implanted in a non-cranial position of the human body and process the EEG signals; the implant host includes a wireless charging module and a wireless communication module, the wireless charging module is used to wirelessly charge the implant host, and the wireless communication module is used to wirelessly transmit the EEG signals processed by the implant host. The present disclosure designs the brain-computer interface system as a split type, implants the probe for obtaining EEG signals into the human brain, and implants the implant host for processing EEG signals into the non-cranial position of the human body, so that the implant body with the power supply part can be kept away from the brain to avoid brain tissue damage caused by heat", but the existing implantation device cannot be withdrawn and adjusted. On the other hand, since it takes several minutes for PEG to dissolve, the rigid guide needle is retained in the brain tissue during the process, which will cause a large immune response; 4. Patent document CN117297617A discloses an implantable brain-computer interface belonging to the field of medical devices, "including electrodes, detection modules, signal processing modules, pulse generating modules, control modules, etc. The control module works according to the output signal of the detection module, and its control output end is used to control the work of the pulse generating module and the detection module. The present invention can delay the cell death of neurons contacted by the electrode, and is also conducive to the formation of colloid substances around the impedance electrode, preventing or delaying the increase of electrode impedance, thereby extending the service life of the electrode", but the existing implantation device injection often uses an implantation speed of tens of meters per second, which will cause more damage to brain tissue. Summary of the invention

[0004] The purpose of the present invention is to provide an implantation device and control method for ultra-flexible electrodes to solve the technical problem that the existing implantation device mentioned in the above background technology fails to achieve needle withdrawal, resulting in the rigid needle being retained in the brain tissue and only acute measurement can be performed.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an implantation device for ultra-flexible electrodes, comprising a connector, a micro-needle module and a micro-clamp module, wherein the micro-clamp module is fixed to the right interface of the connector, and a cylindrical groove and a set screw hole are reserved in the upper part of the connector for the interface at the end of any multi-degree-of-freedom motion platform; The microneedle module includes a side support plate, a horizontal force sensor, a hollow guide rod, a needle driver fixing block, and a needle driver. The side support plate serves as the base of the microneedle module, and the side support plate is fixed to the left interface of the connector. One end of the horizontal force sensor is fixed to the side support plate, and the other end is connected to the hollow guide rod. The connection between the side support plate, the horizontal force sensor, and the hollow guide rod provides a fixed support guide. The needle driver is fixed to the side of the side support plate by clamping the needle driver fixing block with the side support plate. The driving rod of the needle driver is connected to the transmission rod, the vertical force sensor, and the microneedle clamping block in sequence. The needle driver transmits the driving force to the microneedle, and the microneedle clamping block clamps the microneedle by tightening the screws. The microneedle passes through the hollow guide rod. The microneedle realizes reciprocating motion in the vertical direction under the drive of the needle driver. The motion stroke is 10 mm, and the motion speed is 0.1-10 mm / s. An ultra-flexible electrode is placed under the microneedle.

[0006] Preferably, the microneedle module is also integrated with two force sensors, which are respectively a horizontal force sensor and a vertical force sensor. The horizontal force sensor is used to provide real-time feedback on the lateral force condition of the microneedle under a supporting and guiding connection relationship, and the vertical force sensor is used to provide real-time feedback on the longitudinal force condition of the microneedle under a vertical driving connection relationship, so as to jointly monitor the safety and reliability of the microneedle implantation action.

[0007] Preferably, the micro-pliers module comprises a height adjustment pad, a side support block, a first fixed block of a pliers driver, a straight pliers driver, a first driver of a bent pliers, a driver adapter block, a second fixed block of a pliers driver, and a second driver of a bent pliers. The side support block serves as the base of the micro-pliers module. The side support block is fixed to the right interface of the connector through the height adjustment pad. Two square grooves are provided on the surface of the side support block, which are combined with the first fixed block of the pliers driver to clamp and fix the straight pliers driver and the first driver of the bent pliers. The motion axes of the two drivers are parallel and have an angle of 15° with the vertical direction. The straight pliers driver is connected to the straight pliers by a driving rod. The straight pliers driver drives the straight pliers to reciprocate in an oblique direction. The motion stroke is 10 mm and the motion speed is 0.1-20 mm / s.

[0008] Preferably, the driving rod of the first driver of the bending pliers is connected to the driver adapter block, which is combined with the second fixing block of the pliers driver to clamp and fix the second driver of the bending pliers. The second driver of the bending pliers is connected to the bending pliers through its driving rod. The second driver of the bending pliers drives the bending pliers to reciprocate in an oblique direction. The movement stroke is 10mm, the movement speed is 0.1-20mm / s, and the movement axis of the second driver of the bending pliers is at an angle of 15° to the vertical direction.

[0009] Preferably, the offset direction of the motion axis of the first driver of the bending pliers is orthogonal, and the bending pliers realize oblique reciprocating motion in two orthogonal directions under the drive of the first driver of the bending pliers and the second driver of the bending pliers. The straight pliers and the bending pliers realize various motions such as clamping in three-dimensional space under the drive of three drivers, and have multi-degree-of-freedom motion capabilities and tolerances.

[0010] Preferably, the ultra-flexible electrode comprises 16 electrode wires, which are arranged on a layer of organic film by a micro-nano manufacturing process, and the electrode wires are adhered to the surface of the electrode storage block by glue.

[0011] Preferably, the height adjustment pad is used to compensate for the height difference between the ends of the microneedle module and the micro-clamp module, and the height adjustment pad is made of a three-dimensional printed part that is easy to manufacture and replace.

[0012] Preferably, the microneedle module and the micro-forceps module are installed on a multi-degree-of-freedom motion platform with a wide range of travel for use in large surgical scenarios.

[0013] Preferably, the microneedle module and the micro-clamp module serve as an end effector module for high-precision operations in a small range.

[0014] Preferably, the control method of the implantation device comprises the following steps: Step S1, the electrode wire is suspended for 0.5-1mm, and the microholes reserved at the end of each wire of the ultra-flexible electrode are exposed to facilitate the perforation of the microneedle. The initial state of the implantation operation is that the microneedle of the implantation device is aligned above the microhole of the first wire on the rightmost side of the ultra-flexible electrode, and the straight forceps and the curved forceps are on the side of the microneedle. The purpose of the implantation operation is to clamp and peel off the single ultra-flexible electrode from its electrode storage block in turn, transfer it to the top of the brain tissue, and then implant it to the target depth; Step S2, after the microneedle is aligned above the microhole of the ultra-flexible electrode, it first moves vertically downward under the drive of the needle driver to achieve perforation, and the curved forceps are driven by the first curved forceps driver and the second curved forceps driver to perform an oblique insertion movement to the bottom of the ultra-flexible electrode. The oblique insertion movement of the curved forceps leaves a distance on the side of the ultra-flexible electrode to avoid interference. After the curved forceps moves to the bottom of the ultra-flexible electrode, the first curved forceps driver drives in the reverse direction to make the curved forceps perform a hook bottom movement in an oblique direction until the curved forceps fit the lower surface of the ultra-flexible electrode. Finally, the straight forceps moves obliquely downward under the drive of the straight forceps driver. Since the movement axes of the straight forceps driver and the first curved forceps driver are parallel, the straight forceps and the curved forceps can form a 0.1mm×0.2mm rectangular fitting surface in design, and can achieve close clamping of the ultra-flexible electrode. The state of the implantation device clamping the ultra-flexible electrode is manifested as microneedle perforation and the straight forceps and the curved forceps clamping the end of the electrode line; Step S3, the electrode storage block is installed above the brain tissue, and an opening is provided above the brain tissue. The ultra-flexible electrode is stripped from the electrode storage block before implantation and transferred to the position above the opening. During the stripping process, the microneedle, straight forceps and curved forceps carry the ultra-flexible electrode together. On the basis that the microneedle can pass through the micropore of the ultra-flexible electrode, a micro-clamp module capable of clamping the ultra-flexible electrode is additionally provided. The micro-clamp module can reduce the lateral tension on the microneedle during the electrode stripping process, reduce the bending of the microneedle, promote the completion of the electrode stripping step, and limit the position of the ultra-flexible electrode in both directions from the upper and lower surfaces to avoid the risk of falling off; In step S4, after the microneedle, straight forceps and curved forceps carry the ultra-flexible electrode to the position above the opening of the brain tissue, the straight forceps slowly moves upward obliquely under the drive of the straight forceps driver, and the curved forceps moves together with the straight forceps under the drive of the first curved forceps driver follow-up control, and a gap is maintained between the two. The pulling-up function of the straight forceps and the curved forceps can optimize the posture of the ultra-flexible electrode during subsequent puncture of the brain tissue, making it closer to the microneedle and in a more vertical posture, thereby reducing the resistance encountered during the electrode implantation process and reducing the lateral pulling of the microneedle by the ultra-flexible electrode, which helps to improve the implantation accuracy and reduce the microneedle implantation error. The microneedle punctures the brain tissue at a uniform speed of 1 mm / s under the drive of the needle driver, and implants the ultra-flexible electrode to the target depth at a depth of 0-6 mm. After the microneedle is implanted, it temporarily stays in the brain tissue. At this time, the straight forceps move obliquely upward away from the upper surface of the ultra-flexible electrode under the drive of the straight forceps driver. The curved forceps first move obliquely downward to leave a gap with the lower surface of the ultra-flexible electrode under the drive of the first curved forceps driver, and then are retracted obliquely upward under the drive of the second curved forceps driver. The straight forceps and the curved forceps pull up the high The electrode wires remaining outside the brain tissue can be directly released at the pull-up height, which is convenient for the subsequent withdrawal of the microneedle. The microneedle can be withdrawn only after the micro-tweezers release the electrodes. Therefore, this release function can reduce the time that the microneedle stays in the brain tissue after implantation, improve the implantation efficiency and help reduce tissue rejection reactions. In addition, this release function can be completed at the pull-up height, that is, it will not occupy the lateral space of the ultra-flexible electrode, which also reduces the interference of straight forceps and curved forceps with other electrode wire bundles during the subsequent implantation of multiple electrodes, which helps to achieve high-density implantation. The microneedle moves at a speed of 10mm / s under the drive of the needle driver. It can be quickly withdrawn to the outside of the brain tissue at a speed of , and a single ultra-flexible electrode is retained in the brain tissue by inertia. At this point, a complete ultra-flexible electrode brain implantation process is completed. This process can be repeated with high consistency under the implantation device based on four electric drivers, that is, the implantation of multiple ultra-flexible electrodes can be achieved, and the implantation position can be customized. The microneedle's rapid implantation and withdrawal capabilities and the straight and curved forceps' multi-mode control capabilities can achieve ultra-flexible electrode implantation with a single implantation time of 10s and multiple implantation intervals of 0.2mm, and has the functions of high implantation efficiency and high implantation density.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is provided with an ultra-flexible electrode placed below the microneedle. The microneedle module is also integrated with two force sensors, which are a horizontal force sensor and a vertical force sensor. The horizontal force sensor is used to provide real-time feedback on the lateral force of the microneedle under the support-guide connection relationship, and the vertical force sensor is used to provide real-time feedback on the longitudinal force of the microneedle under the vertical drive connection relationship, so as to jointly monitor the safety and reliability of the microneedle implantation action. The electrode wire is suspended for a length of 0.5-1 mm, exposing the microholes reserved at the end of each wire of the ultra-flexible electrode. , which is convenient for the perforation of the microneedle. The initial state of the implantation operation is that the microneedle of the implantation device is aligned with the microhole of the first line on the far right of the ultra-flexible electrode, and the straight forceps and the curved forceps are on the side of the microneedle. The purpose of the implantation operation is to clamp and peel off the single ultra-flexible electrode from its electrode storage block in turn, transfer it to the top of the brain tissue, and then implant it to the target depth. The microneedle is supported and guided when it moves in the vertical direction, and the horizontal force sensor and the vertical force sensor are integrated to feedback the force of the microneedle in real time, and jointly monitor the safety and reliability of the microneedle implantation operation; 2. The present invention installs a microneedle and aligns it above the microhole of the ultra-flexible electrode. First, the microneedle is driven by the needle driver to move vertically downward to achieve perforation. The curved forceps are driven by the first curved forceps driver and the second curved forceps driver to perform an oblique insertion movement to the bottom of the ultra-flexible electrode. The oblique insertion movement of the curved forceps leaves a distance on the side of the ultra-flexible electrode to avoid interference. After the curved forceps moves to the bottom of the ultra-flexible electrode, the first curved forceps driver drives in the reverse direction to make the curved forceps perform a hook bottom movement in an oblique direction until the curved forceps fits the lower surface of the ultra-flexible electrode. Finally, The straight forceps moves obliquely downward under the drive of the straight forceps driver. Since the movement axes of the straight forceps driver and the first driver of the curved forceps are parallel, the straight forceps and the curved forceps can form a 0.1mm×0.2mm rectangular fitting surface in design, and can achieve close clamping of the ultra-flexible electrode. The state of the implantation device clamping the ultra-flexible electrode is manifested as microneedle perforation and the straight forceps and the curved forceps clamping the end of the electrode line. The multi-degree-of-freedom movement ability of the straight forceps and the curved forceps in three-dimensional space can reliably control the coordinated action of the ultra-flexible electrode and the microneedle to complete the whole process of ultra-flexible electrode implantation. 3. The present invention is provided with straight forceps which are driven by a straight forceps driver to move obliquely upward away from the upper surface of the ultra-flexible electrode, and the curved forceps are first driven by a first curved forceps driver to move obliquely downward to leave a gap with the lower surface of the ultra-flexible electrode, and then driven by a second curved forceps driver to be retracted obliquely upward. The straight forceps and the curved forceps can directly release the electrode wires remaining outside the brain tissue at the height where the ultra-flexible electrode is pulled up, facilitating the subsequent withdrawal of the microneedle. The microneedle can be withdrawn only after the microneedle releases the electrode. Therefore, the release function can reduce the time the microneedle stays in the brain tissue after implantation, improve the implantation efficiency and help reduce tissue rejection reaction. 4. The present invention is equipped with microneedle rapid implantation and retraction capabilities and straight and curved forceps multi-mode control capabilities, which can achieve ultra-flexible electrode implantation with a single implantation time of 10 seconds and multiple implantation intervals of 0.2 mm, and has the functions of high implantation efficiency and high implantation density. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the microneedle module structure of the present invention; Figure 3 It is a schematic diagram of the clamp structure of the micro clamp module of the present invention; Figure 4 It is a schematic diagram of the implantation preparation state of the ultra-flexible electrode of the present invention; Figure 5 It is a schematic diagram of the process of clamping a flexible electrode of the present invention; Figure 6 It is a schematic diagram of the peeling state of the ultra-flexible electrode of the present invention; Figure 7 It is a schematic diagram of the process of implanting a flexible electrode of the present invention; Figure 8 It is a schematic diagram of the ultra-flexible electrode implantation process and mechanism motion control of the present invention.

[0017] In the figure: 1. connector; 21. side support plate; 22. horizontal force sensor; 23. hollow guide rod; 24. needle driver fixing block; 25. needle driver; 26. transmission rod; 27. vertical force sensor; 28. microneedle clamping block; 29. ​​microneedle; 30. height adjustment pad; 31. side support block; 32. first fixing block of clamp driver; 33. straight clamp driver; 34. straight clamp; 35. first driver of curved clamp; 36. driver adapter block; 37. second fixing block of clamp driver; 38. second driver of curved clamp; 39. curved clamp. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0020] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, it can be understood according to the specific situation.

[0022] Example 1: Please refer to Figure 1 , Figure 2 and Figure 4An embodiment of the present invention provides: an implantation device and control method for ultra-flexible electrodes, comprising a connector 1, a microneedle module and a micro-clamp module, wherein the micro-clamp module is fixed to the right interface of the connector 1, and a cylindrical groove and a set screw hole are reserved in the upper half of the connector 1 for the interface at the end of any multi-degree-of-freedom motion platform, wherein the microneedle module comprises a side support plate 21, a horizontal force sensor 22, a hollow guide rod 23, a needle driver fixing block 24, and a needle driver 25, wherein the side support plate 21 serves as the base of the microneedle module, wherein the side support plate 21 is fixed to the left interface of the connector 1, and one end of the horizontal force sensor 22 is fixed to the side support The side support plate 21 has one end and the other end is connected to a hollow guide rod 23. The connection between the side support plate 21, the horizontal force sensor 22 and the hollow guide rod 23 provides a fixed support guide. The needle driver 25 is fixed to the side of the side support plate 21 by clamping the needle driver fixing block 24 with the side support plate 21. The driving rod of the needle driver 25 is connected with a transmission rod 26, a vertical force sensor 27 and a microneedle clamping block 28 in sequence. The needle driver 25 transmits the driving force to the microneedle 29. The microneedle clamping block 28 clamps the microneedle 29 by tightening the screws. The microneedle 29 passes through the hollow guide rod 23. The microneedle 29 is driven by the needle driver 25 to realize the vertical direction. The microneedle 29 is provided with an ultra-flexible electrode under the microneedle 29. The microneedle module is also integrated with two force sensors, namely a horizontal force sensor 22 and a vertical force sensor 27. The horizontal force sensor 22 is used to provide real-time feedback on the lateral force of the microneedle 29 under the support-guide connection relationship, and the vertical force sensor 27 is used to provide real-time feedback on the longitudinal force of the microneedle 29 under the vertical drive connection relationship, so as to jointly monitor the safety and reliability of the implantation of the microneedle 29. The electrode wire is suspended with a length of 0.5-1 mm, and each wire of the ultra-flexible electrode is connected to the microneedle 29. The microhole reserved at the end is exposed to facilitate the piercing action of the microneedle 29. The initial state of the implantation operation is that the microneedle 29 of the implantation device is aligned with the microhole above the first rightmost line of the ultra-flexible electrode, and the straight forceps 34 and the curved forceps 39 are on the side of the microneedle 29. The purpose of the implantation operation is to clamp and peel off a single ultra-flexible electrode from its electrode storage block in turn, transfer it to the top of the brain tissue, and then implant it to the target depth. The microneedle 29 is supported and guided when moving in the vertical direction, and the horizontal force sensor 22 and the vertical force sensor 27 are integrated to provide real-time feedback on the force condition of the microneedle 29, and jointly monitor the safety and reliability of the microneedle 29 during the implantation action.

[0023] Example 2: Please refer to Figure 1 , Figure 3 and Figure 5An embodiment of the present invention is as follows: the micro-pliers module comprises a height adjustment pad 30, a side support block 31, a first fixed block 32 of a pliers driver, a straight pliers driver 33, a first bent pliers driver 35, a driver adapter block 36, a second fixed block 37 of a pliers driver, and a second bent pliers driver 38. The side support block 31 serves as the base of the micro-pliers module. The side support block 31 is fixed to the right interface of the connector 1 through the height adjustment pad 30. Two square grooves are provided on the surface of the side support block 31. The straight pliers driver 33 and the first bent pliers driver 35 are clamped and fixed in combination with the first fixed block 32 of the pliers driver. The motion axes of the two drivers are parallel and have an angle of 15° with the vertical direction. The straight pliers driver 33 is connected to the straight pliers through a driving rod. 34, the straight forceps driver 33 drives the straight forceps 34 to reciprocate in the oblique direction, the movement stroke is 10mm, and the movement speed is 0.1-20mm / s. The driving rod of the first bending forceps driver 35 is connected to the driver adapter block 36, and combined with the second fixing block 37 of the forceps driver to clamp and fix the second bending forceps driver 38. The second bending forceps driver 38 is connected to the bending forceps 39 through its driving rod. The second bending forceps driver 38 drives the bending forceps 39 to reciprocate in the oblique direction, the movement stroke is 10mm, and the movement speed is 0.1-20mm / s. The angle between the movement axis of the second bending forceps driver 38 and the vertical direction is 15°, and the offset direction of the movement axis of the first bending forceps driver 35 is orthogonal. The bending forceps 39 is at the first bending forceps driver. The straight forceps 34 and the curved forceps 39 realize various movements such as clamping in three-dimensional space under the drive of the three drivers, and have multi-degree-of-freedom movement capabilities and tolerances. After the microneedle 29 is aligned above the microhole of the ultra-flexible electrode, it first moves vertically downward under the drive of the needle driver 25 to achieve perforation. The curved forceps 39, under the joint drive of the first curved forceps driver 35 and the second curved forceps driver 38, performs an oblique insertion movement to the bottom of the ultra-flexible electrode. The oblique insertion movement of the curved forceps 39 leaves a distance on the side of the ultra-flexible electrode to avoid interference. When the curved forceps 39 moves to the bottom of the ultra-flexible electrode, the first curved forceps driver 35 drives the curved forceps in the opposite direction to make the curved forceps move in the opposite direction. The clamp 39 performs a hook bottom movement in an oblique direction until the curved clamp 39 fits the lower surface of the ultra-flexible electrode, and finally the straight clamp 34 moves obliquely downward under the drive of the straight clamp driver 33. Since the movement axes of the straight clamp driver 33 and the curved clamp first driver 35 are parallel, the straight clamp 34 and the curved clamp 39 can form a 0.1mm×0.2mm rectangular fitting surface in design, and can tightly clamp the ultra-flexible electrode. The state of the implantation device clamping the ultra-flexible electrode is manifested in the perforation of the microneedle 29 and the straight clamp 34 and the curved clamp 39 clamping the end of the electrode line. The straight clamp 34 and the curved clamp 39 have multi-degree-of-freedom movement capabilities in three-dimensional space, which can reliably control the coordinated action of the ultra-flexible electrode and the microneedle 29 to complete the entire process of ultra-flexible electrode implantation.

[0024] Example 3: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6 , an embodiment provided by the present invention: the ultra-flexible electrode comprises 16 electrode wires, the electrode wires are arranged on a layer of organic film by a micro-nano manufacturing process, the electrode wires are adhered to the surface of the electrode storage block by glue, the height adjustment pad 30 is used to compensate for the height difference of the ends of the microneedle module and the micro-clamp module, the height adjustment pad 30 uses a three-dimensional printed part that is easy to manufacture and replace, the microneedle module and the micro-clamp module are installed on a multi-degree-of-freedom motion platform with a large range of travel for large surgical scenes, the microneedle module and the micro-clamp module are used as an end effector module for small-range high-precision operations, the electrode storage block It is installed above the brain tissue, and there is an opening above the brain tissue. The ultra-flexible electrode is peeled off from the electrode storage block before implantation and transferred to the position above the opening. During the peeling process, the microneedle 29, the straight forceps 34 and the curved forceps 39 jointly carry the ultra-flexible electrode. On the basis that the microneedle 29 can pass through the microhole of the ultra-flexible electrode, an additional micro-clamp module capable of clamping the ultra-flexible electrode is provided. The micro-clamp module can reduce the lateral pulling force on the microneedle 29 during the electrode peeling process, reduce the bending of the microneedle 29, promote the completion of the electrode peeling step, and limit the position of the ultra-flexible electrode in both directions from the upper and lower surfaces to avoid the risk of falling off.

[0025] Example 4: Please refer to Figure 1 , Figure 2 , Figure 6 and Figure 7 , an embodiment provided by the present invention: after the microneedle 29, straight forceps 34 and curved forceps 39 carry the ultra-flexible electrode to the position above the opening of the brain tissue, the straight forceps 34 slowly moves obliquely upward under the drive of the straight forceps driver 33, and at the same time, the curved forceps 39 moves together with the straight forceps 34 under the drive of the follow-up control of the curved forceps first driver 35, and a gap is maintained between the two. The pulling-up function of the straight forceps 34 and the curved forceps 39 can optimize the posture of the ultra-flexible electrode during subsequent puncture of the brain tissue, making it closer to the microneedle 29 and in a more vertical posture, thereby reducing the resistance encountered during the electrode implantation process, and also reducing the lateral pulling of the microneedle 29 by the ultra-flexible electrode, which helps to improve the implantation accuracy and reduce the implantation damage caused by the implantation trajectory of the microneedle 29.

[0026] Example 5: Please refer to Figure 1 , Figure 2 , Figure 6 Figure 7 and Figure 8, the microneedle 29 punctures the brain tissue at a uniform speed of 1mm / s under the drive of the needle driver 25, and at the same time implants the ultra-flexible electrode to the target depth, the implantation depth is 0-6mm, after the implantation of the microneedle 29 is completed, it temporarily stays in the brain tissue, at this time, the straight forceps 34 moves obliquely upward away from the upper surface of the ultra-flexible electrode under the drive of the straight forceps driver 33, the curved forceps 39 first moves obliquely downward to leave a gap with the lower surface of the ultra-flexible electrode under the drive of the first curved forceps driver 35, and then retracts obliquely upward under the drive of the second curved forceps driver 38, the straight forceps 34 and the curved forceps 39 pull up the height of the ultra-flexible electrode to directly release the electrode wire remaining outside the brain tissue, which is convenient for the subsequent withdrawal of the microneedle 29, and the microneedle 29 can be withdrawn only after the micro-forceps release the electrode, so the release function can reduce the microneedle implantation The time that the ultra-flexible electrode stays in the brain tissue after implantation is increased, which improves the implantation efficiency and helps to reduce tissue rejection reactions. The microneedle module is driven by a single linear drive to achieve perforation, stripping, implantation and withdrawal. The micro-clamp module is driven by three linear drives to achieve clamping, stripping, pulling up and releasing. The two sub-modules cooperate to realize the complete process from the preparation state to the implantation of the ultra-flexible electrode in the brain tissue, without the need for complicated manual pre-installation and coating preparation, which greatly improves the practical value of the implantation device in the field of ultra-flexible electrode implantation technology. In addition, the implantation device is based on the design of four linear actuators and integrated two force sensors, which improves the microneedle force monitoring conditions and improves the safety of the microneedle implantation action. At the same time, the innovative micro-clamp mechanism is used to improve the control reliability of the ultra-flexible electrode.

[0027] Example 6: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6 The release function can be completed at the pull-up height, that is, it will not occupy the lateral space of the ultra-flexible electrode, which reduces the interference of the straight forceps 34 and the curved forceps 39 with other electrode harnesses during the subsequent implantation of multiple electrodes, and helps to achieve high-density implantation. The microneedle 29 is driven by the needle driver 25 to quickly withdraw to the outside of the brain tissue at a speed of 10 mm / s, and the single ultra-flexible electrode is retained in the brain tissue by inertia. At this point, a complete ultra-flexible electrode brain implantation process is completed. The process can be repeated with high consistency under the implantation device based on four electric drivers, that is, the implantation of multiple ultra-flexible electrodes can be achieved, and the implantation position can be customized. The rapid implantation and withdrawal capabilities of the microneedle 29 and the multi-mode control capabilities of the straight forceps 34 and the curved forceps 39 can achieve ultra-flexible electrode implantation with a single implantation time of 10 s and multiple implantation intervals of 0.2 mm, and has the functions of high implantation efficiency and high implantation density.

[0028] Working principle: the electrode wire is suspended with a length of 0.5-1mm, and the microholes reserved at the end of each wire of the ultra-flexible electrode are exposed to facilitate the perforation of the microneedle 29. The initial state of the implantation operation is that the microneedle 29 of the implantation device is aligned with the microhole of the first wire on the far right of the ultra-flexible electrode. The straight forceps 34 and the curved forceps 39 are on the side of the microneedle 29. The purpose of the implantation operation is to clamp and peel off a single ultra-flexible electrode from its electrode storage block in turn, transfer it to the top of the brain tissue, and then implant it to the target depth. After the microneedle 29 is aligned with the microhole of the ultra-flexible electrode, it first moves vertically downward under the drive of the needle driver 25 to achieve perforation. The curved forceps 39 are driven by the first curved forceps driver 35 and the second curved forceps driver 38 to perform oblique insertion. Move to the bottom of the ultra-flexible electrode, the oblique insertion movement of the curved forceps 39 leaves a distance on the side of the ultra-flexible electrode to avoid interference. After the curved forceps 39 moves to the bottom of the ultra-flexible electrode, the first driver 35 of the curved forceps performs reverse driving to make the curved forceps 39 perform a hook bottom movement in an oblique direction until the curved forceps 39 fits the lower surface of the ultra-flexible electrode. Finally, the straight forceps 34 moves obliquely downward under the drive of the straight forceps driver 33. Since the movement axes of the straight forceps driver 33 and the first driver 35 of the curved forceps are parallel, the straight forceps 34 and the curved forceps 39 are designed to form a 0.1mm×0.2mm rectangular fitting surface, and can achieve close clamping of the ultra-flexible electrode. The state of the implantation device clamping the ultra-flexible electrode is manifested as the perforation of the microneedle 29 and the straight forceps 34 and the curved forceps 39. The end of the clamping electrode wire is installed in the electrode storage block above the brain tissue. There is an opening above the brain tissue. The ultra-flexible electrode is peeled off from the electrode storage block before implantation and transferred to the position above the opening. During the peeling process, the microneedle 29, straight forceps 34 and curved forceps 39 carry the ultra-flexible electrode together. The microneedle 29 can pass through the microhole of the ultra-flexible electrode. A micro-clamp module capable of clamping the ultra-flexible electrode is additionally provided. The micro-clamp module can reduce the lateral pulling force on the microneedle 29 during the electrode peeling process, reduce the bending of the microneedle 29, promote the completion of the electrode peeling step, and limit the position of the ultra-flexible electrode in both directions from the upper and lower surfaces to avoid the risk of falling off. The microneedle 29, straight forceps 34 and curved forceps 39 carry the ultra-flexible electrode to the position above the opening in the brain tissue. Afterwards, the straight forceps 34 slowly moves upward obliquely under the drive of the straight forceps driver 33, and at the same time, the curved forceps 39 moves together with the straight forceps 34 under the drive of the follow-up control of the curved forceps first driver 35, and a gap is maintained between the two. The pulling-up function of the straight forceps 34 and the curved forceps 39 can optimize the posture of the ultra-flexible electrode during subsequent puncture of the brain tissue, making it closer to the microneedle 29 and in a more vertical posture, thereby reducing the resistance encountered during the electrode implantation process, and also reducing the lateral pulling of the ultra-flexible electrode off the microneedle 29, which helps to improve the implantation accuracy and reduce the implantation damage caused by the implantation trajectory of the microneedle 29. Driven by the needle driver 25, the microneedle 29 punctures the brain tissue at a uniform speed of 1mm / s, and at the same time implants the ultra-flexible electrode to the target depth, with an implantation depth of 0-6mm.After the implantation of the microneedle 29 is completed, it temporarily stays in the brain tissue. At this time, the straight forceps 34 moves obliquely upward away from the upper surface of the ultra-flexible electrode under the drive of the straight forceps driver 33, and the curved forceps 39 first move obliquely downward to leave a gap with the lower surface of the ultra-flexible electrode under the drive of the first curved forceps driver 35, and then retract obliquely upward under the drive of the second curved forceps driver 38. The straight forceps 34 and the curved forceps 39 pull up the ultra-flexible electrode at a height that can directly release the electrode wire remaining outside the brain tissue, which is convenient for the subsequent withdrawal of the microneedle 29. The microneedle 29 can only be withdrawn after the microforceps release the electrode. Therefore, this release function can not only reduce the time that the microneedle stays in the brain tissue after implantation, improve the implantation efficiency and help reduce tissue rejection reaction. In addition, the release function can be completed at the pull-up height, that is, it will not occupy the side of the ultra-flexible electrode. The microneedle 29 is driven by the needle driver 25 to quickly withdraw to the outside of the brain tissue at a speed of 10 mm / s, and a single ultra-flexible electrode is retained in the brain tissue by inertia. At this point, a complete ultra-flexible electrode brain implantation process is completed. This process can be repeated with high consistency under the implantation device based on four electric drivers, that is, multiple ultra-flexible electrodes can be implanted, and the implantation position can be customized. The rapid implantation and withdrawal capabilities of the microneedle 29 and the multi-mode control capabilities of the straight forceps 34 and the curved forceps 39 can achieve ultra-flexible electrode implantation with a single implantation time of 10 seconds and multiple implantation intervals of 0.2 mm, with high implantation efficiency and high implantation density.

[0029] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An implantation device for ultra-flexible electrodes, comprising a connector (1), a microneedle module and a micro-clamp module, characterized in that: The micro-clamp module is fixed to the right interface of the connector (1), and the upper part of the connector (1) is provided with a cylindrical groove and a set screw hole for the interface at the end of any multi-degree-of-freedom motion platform; The microneedle module comprises a side support plate (21), a horizontal force sensor (22), a hollow guide rod (23), a needle driver fixing block (24), and a needle driver (25). The side support plate (21) serves as a base of the microneedle module. The side support plate (21) is fixed to a left interface of the connector (1). One end of the horizontal force sensor (22) is fixed to the side support plate (21), and the other end is connected to the hollow guide rod (23). The connection between the side support plate (21), the horizontal force sensor (22), and the hollow guide rod (23) provides a fixed support guide. The needle driver (25) is connected to the side support plate (21) through the needle driver fixing block (24). 21) is clamped on the side of the side support plate (21), the driving rod of the needle driver (25) is connected with the transmission rod (26), the vertical force sensor (27) and the microneedle clamping block (28) in sequence, the needle driver (25) transmits the driving force to the microneedle (29), the microneedle clamping block (28) clamps the microneedle (29) by tightening the screws, the microneedle (29) passes through the hollow guide rod (23), the microneedle (29) realizes reciprocating motion in the vertical direction under the drive of the needle driver (25), the motion stroke is 10mm, the motion speed is 0.1-20mm / s, and an ultra-flexible electrode is placed under the microneedle (29).

2. The implantation device for ultra-flexible electrodes according to claim 1, characterized in that: The microneedle module is also integrated with two force sensors, which are respectively a horizontal force sensor (22) and a vertical force sensor (27). The horizontal force sensor (22) is used to provide real-time feedback on the lateral force of the microneedle (29) in a supporting and guiding connection relationship, and the vertical force sensor (27) is used to provide real-time feedback on the longitudinal force of the microneedle (29) in a vertical driving connection relationship, so as to jointly monitor the safety and reliability of the microneedle (29) in the implantation operation.

3. The implantation device for ultra-flexible electrodes according to claim 1, characterized in that: The micro-gripper module comprises a height adjustment pad (30), a side support block (31), a first clamp driver fixed block (32), a straight clamp driver (33), a first bent clamp driver (35), a driver adapter block (36), a second clamp driver fixed block (37), and a second bent clamp driver (38). The side support block (31) serves as a base of the micro-gripper module. The side support block (31) is fixed to the right interface of the connector (1) through the height adjustment pad (30). Two square grooves are provided on the surface of the side support block (31). The straight clamp driver (33) and the first bent clamp driver (35) are clamped and fixed in combination with the first clamp driver fixed block (32). The movement axes of the two drivers are parallel and have an angle of 15° with the vertical direction. The straight clamp driver (33) is connected to the straight clamp (34) through a driving rod. The straight clamp driver (33) drives the straight clamp (34) to reciprocate in an oblique direction. The movement stroke is 10 mm and the movement speed is 0.1-20 mm / s.

4. The implantation device for ultra-flexible electrodes according to claim 3, characterized in that: The driving rod of the first bending forceps driver (35) is connected to the driver adapter block (36), and is combined with the second fixing block (37) of the forceps driver to clamp and fix the second bending forceps driver (38). The second bending forceps driver (38) is connected to the bending forceps (39) through its driving rod. The second bending forceps driver (38) drives the bending forceps (39) to reciprocate in an oblique direction, with a movement stroke of 10 mm and a movement speed of 0.1-20 mm / s. The movement axis of the second bending forceps driver (38) is at an angle of 15° to the vertical direction.

5. The implantation device for ultra-flexible electrodes according to claim 4, characterized in that: The offset direction of the motion axis of the first bending forceps driver (35) is orthogonal. The bending forceps (39) realizes oblique reciprocating motion in two orthogonal directions under the drive of the first bending forceps driver (35) and the second bending forceps driver (38). The straight forceps (34) and the bending forceps (39) realize multiple motions such as clamping in three-dimensional space under the drive of the three drivers, and have multi-degree-of-freedom motion capability and tolerance.

6. The implantation device for ultra-flexible electrodes according to claim 1, characterized in that: The ultra-flexible electrode includes 16 electrode wires, which are arranged on a layer of organic film through a micro-nano manufacturing process, and the electrode wires are adhered to the surface of the electrode storage block with glue.

7. The implantation device for ultra-flexible electrodes according to claim 3, characterized in that: The height adjustment pad (30) is used to compensate for the height difference between the ends of the microneedle module and the micro-tweezers module. The height adjustment pad (30) uses a three-dimensional printed part that is easy to manufacture and replace.

8. The implantation device for ultra-flexible electrodes according to claim 1, characterized in that: The microneedle module and the microforceps module are installed on a multi-degree-of-freedom motion platform with a large range of travel for use in large surgical scenarios.

9. The implantation device for ultra-flexible electrodes according to claim 1, characterized in that: The microneedle module and the micro-clamp module serve as an end effector module for high-precision operations in a small range.

10. A control method for an implantation device for an ultra-flexible electrode, applicable to an implantation device for an ultra-flexible electrode according to any one of claims 1 to 9, characterized in that: The control method of the implantation device comprises the following steps: Step S1, the electrode wire is suspended for a length of 0.5-1 mm, and the microholes reserved at the end of each wire of the ultra-flexible electrode are exposed to facilitate the perforation of the microneedle (29). The initial state of the implantation operation is that the microneedle (29) of the implantation device is aligned with the microhole above the first wire on the rightmost side of the ultra-flexible electrode, and the straight forceps (34) and the curved forceps (39) are on the side of the microneedle (29). The purpose of the implantation operation is to clamp and peel off a single ultra-flexible electrode from its electrode storage block in turn, transfer it to the top of the brain tissue, and then implant it to the target depth; Step S2, after the microneedle (29) is aligned above the micropore of the ultra-flexible electrode, it first moves vertically downward under the drive of the needle driver (25) to achieve perforation, and the curved forceps (39) are driven by the first curved forceps driver (35) and the second curved forceps driver (38) to perform an oblique insertion movement to the bottom of the ultra-flexible electrode. The oblique insertion movement of the curved forceps (39) leaves a distance on the side of the ultra-flexible electrode to avoid interference. After the curved forceps (39) moves to the bottom of the ultra-flexible electrode, the first curved forceps driver (35) drives in the reverse direction, so that the curved forceps (39) performs an oblique insertion movement. The hook bottom moves until the curved forceps (39) fits the lower surface of the ultra-flexible electrode, and finally the straight forceps (34) moves obliquely downward under the drive of the straight forceps driver (33). Since the movement axes of the straight forceps driver (33) and the curved forceps first driver (35) are parallel, the straight forceps (34) and the curved forceps (39) can form a 0.1mm×0.2mm rectangular fitting surface in design, and can achieve close clamping of the ultra-flexible electrode. The state of the implantation device clamping the ultra-flexible electrode is manifested by the microneedle (29) piercing and the straight forceps (34) and the curved forceps (39) clamping the end of the electrode line; Step S3, the electrode storage block is installed above the brain tissue, and an opening is provided above the brain tissue. The ultra-flexible electrode is peeled off from the electrode storage block before implantation and transferred to the position above the opening. During the peeling process, the microneedle (29), the straight forceps (34) and the curved forceps (39) jointly carry the ultra-flexible electrode. On the basis that the microneedle (29) can pass through the micropore of the ultra-flexible electrode, a micro-forceps module capable of clamping the ultra-flexible electrode is additionally provided. The micro-forceps module can reduce the lateral tension on the microneedle (29) during the electrode peeling process, reduce the bending of the microneedle (29), promote the completion of the electrode peeling step, and limit the position of the ultra-flexible electrode in both directions from the upper and lower surfaces, thereby avoiding the risk of falling off; In step S4, after the microneedle (29), the straight forceps (34) and the curved forceps (39) carry the ultra-flexible electrode to the position above the opening of the brain tissue, the straight forceps (34) slowly moves obliquely upward under the drive of the straight forceps driver (33), and at the same time, the curved forceps (39) moves together with the straight forceps (34) under the drive of the follow-up control of the curved forceps first driver (35), and a gap is maintained between the two. The pulling-up function of the straight forceps (34) and the curved forceps (39) can optimize the posture of the ultra-flexible electrode during subsequent puncture of the brain tissue, making it closer to the microneedle (29) and in a more vertical posture, thereby reducing the resistance encountered during the electrode implantation process and reducing the lateral pulling of the microneedle (29) by the ultra-flexible electrode. , which helps to improve the implantation accuracy and reduce the implantation damage caused by the implantation trajectory of the microneedle (29). The microneedle (29) punctures the brain tissue at a uniform speed of 1 mm / s under the drive of the needle driver (25), and at the same time implants the ultra-flexible electrode to the target depth. The implantation depth is 0-6 mm. After the implantation of the microneedle (29) is completed, it temporarily stays in the brain tissue. At this time, the straight forceps (34) are driven by the straight forceps driver (33) to move obliquely upward away from the upper surface of the ultra-flexible electrode. The curved forceps (39) are first driven by the first curved forceps driver (35) to move obliquely downward to leave a gap with the lower surface of the ultra-flexible electrode, and then driven by the second curved forceps driver (38) to move obliquely downward away from the upper surface of the ultra-flexible electrode. The straight forceps (34) and the curved forceps (39) are pulled up at an oblique angle to directly release the electrode wires remaining outside the brain tissue, which is convenient for the subsequent withdrawal of the microneedle (29). The microneedle (29) can be withdrawn only after the microneedle releases the electrode. Therefore, the release function can reduce the time the microneedle stays in the brain tissue after implantation, improve the implantation efficiency and help reduce tissue rejection reaction. In addition, the release function can be completed at the pulled-up height, that is, it will not occupy the lateral space of the ultra-flexible electrode, thus reducing the interference between the straight forceps (34) and the curved forceps (39) and other electrode wire bundles when multiple electrodes are implanted later, which helps to achieve high-density implantation. The microneedle (29) Driven by the needle driver (25), the needle is quickly withdrawn to the outside of the brain tissue at a speed of 10 mm / s, and a single ultra-flexible electrode is retained in the brain tissue by inertia. At this point, a complete ultra-flexible electrode brain implantation process is completed. This process can be repeated with high consistency under the implantation device based on four electric drivers, that is, multiple ultra-flexible electrodes can be implanted, and the implantation position can be customized. The microneedle (29) has rapid implantation and withdrawal capabilities, and the straight forceps (34) and curved forceps (39) have multi-mode control capabilities, which can achieve ultra-flexible electrode implantation with a single implantation time of 10 s and multiple implantation intervals of 0.2 mm, and has the functions of high implantation efficiency and high implantation density.

Images