An implanting device for super flexible electrode and a control method thereof

Abstract

The application discloses an implanting device for super-flexible electrodes and a control method, and relates to the technical field of brain-computer interfaces. The implanting device comprises a connector, a microneedle module and a microforceps module. The microforceps module is fixed to the right interface of the connector. A cylindrical groove and a set screw hole are left in the upper half of the connector, which are used for the interface at the end of an arbitrary multi-degree-of-freedom motion platform. The microneedle module comprises a side support plate, a horizontal force sensor, a hollow guide rod, a needle driver fixing block and a needle driver. The implanting device is used for the purpose of implanting surgery, that is, a single super-flexible electrode is clamped and peeled off from the electrode storage block in sequence, and then is implanted into a target depth after being transferred above brain tissue. When the microneedle moves in the vertical direction, the microneedle is subjected to a supporting and guiding action, and a horizontal force sensor and a vertical force sensor are integrated to realize real-time feedback of the stress condition of the microneedle, so that the safety and reliability of the microneedle during the implanting action are monitored.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of brain-computer interfaces, in particular to a flexible electrode implanting device and a control method. BACKGROUND

[0002] The main function of the implanting device is to implant a flexible neural electrode in the brain tissue of mice and other animals, to provide a technical basis for brain science and neuroscience research in the aspect of surgery, and the neural electrode used for signal acquisition is one of the most critical technologies in the field of brain-computer interfaces, and is a bridge connecting biological brain tissue and external equipment. Compared with non-invasive neural electrodes, invasive neural electrodes can directly collect neuron signals, and have more application prospects in the field of neuroscience due to their excellent signal quality in time and space. Invasive hard neural probes and thin film cortical electrodes have been successfully implanted in the human brain and have collected brain electrical signals on a large scale, and the electrode implanting technology has become mature. However, in terms of signal stability, implantation trauma and biocompatibility, the coordinated development of neural electrode flexibility and miniaturization provides a better way, especially the super flexible electrode, which is specifically prepared from a material with an elastic modulus less than 10 GPa. At present, the demand for implanting super flexible electrodes in animal brain tissue is very urgent and necessary to design and develop a super flexible electrode implanting device. The device can stably and reliably hold a single super flexible electrode, facilitate peeling off from the storage block, and further implant the electrode into the brain tissue to realize the complete implanting process of a single super flexible electrode.

[0003] The defects of the existing implanting device are:

[0004] 1. Patent document CN114420458B discloses a flexible electrode and a preparation method thereof, and a flexible supercapacitor. The flexible electrode comprises a flexible current collector and an active layer combined on one surface of the flexible current collector. The material of the active layer comprises double-shell phase change microcapsules, reduced graphene oxide and a first conductive polymer. The double-shell phase change microcapsules comprise single-shell phase change microcapsules and an outer shell coated on the surface of the single-shell phase change microcapsules, and the outer shell is a second conductive polymer. The flexible electrode provided in the application has temperature self-regulating ability on the basis of good electrochemical performance, so that the flexible electronic components containing the flexible electrode still maintain good stability when the temperature is too high or too low. However, the existing implanting device does not realize the needle withdrawal action, so that the rigid needle remains in the brain tissue and can only be measured acutely.

[0005] 2、Patent document CN114981759B discloses a system and method related to brain-computer interface, "wherein visual stimuli covering one or more objects are provided, the visual stimuli having characteristic modulations. The brain-computer interface measures neural responses to the objects viewed by the user. The neural responses to the visual stimuli are correlated with the modulations. The method enables the interface to distinguish between merely viewing a display object and intentional selection of the display object (e.g., as a trigger for further action)", but the existing implantation device alone coating reinforcement method can achieve a very limited implantation depth, and cannot guarantee the implantation position accuracy of the super flexible electrode tip;

[0006] 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 for implanting in the intracranial position of the human body to obtain the electroencephalogram signal, and the implant host is used for implanting in the non-intracranial position of the human body and processing the electroencephalogram signal; the implant host includes a wireless charging module and a wireless communication module, the wireless charging module is used for wireless charging of the implant host, and the wireless communication module is used for wireless transmission of the electroencephalogram signal processed by the implant host. The brain-computer interface system is designed as a split type, the probe for acquiring the electroencephalogram signal is implanted in the intracranial position of the human body, and the implant host for processing the electroencephalogram signal is implanted in the non-intracranial position of the human body, so that the implant host with the power supply part is away from the brain, and brain tissue damage caused by heat is avoided", but the existing implantation device cannot be withdrawn and adjusted, on the other hand, because the PEG needs several minutes to dissolve, the rigid guide needle stays in the brain tissue during the process, which can cause a great immune response;

[0007] 4、Patent document CN117297617A discloses an implantable brain-computer interface belonging to the field of medical devices, "including an electrode, a detection module, a signal processing module, a pulse generating module, a control module, etc. The control module works according to the output signal of the detection module, and its control output is used to control the work of the pulse generating module and the detection module. The present application can delay the cell death of neurons contacted by the electrode, and is also beneficial to the formation of gelatinous substances around the impedance electrode, preventing or delaying the increase of electrode impedance, thereby prolonging the service life of the electrode", but the existing implantation device injection often uses an implantation speed of tens of meters per second, which can cause more damage to the brain tissue. SUMMARY

[0008] The purpose of the present application is to provide an implantation device and control method for super flexible electrodes, to solve the technical problem that the existing implantation device does not realize needle withdrawal action, causing the rigid needle to stay in the brain tissue and only allowing acute measurement.

[0009] In order to achieve the above object, the present application provides the following technical scheme: A device for implanting super flexible electrode, comprising a connector, a microneedle module and a microforceps module, the microforceps module is fixed to the right interface of the connector, the upper half of the connector is provided with a cylindrical groove and a set screw hole for the interface of the end of an arbitrary multi-degree-of-freedom motion platform;

[0010] The microneedle module comprises a side support plate, a horizontal force sensor, a hollow guide rod, a needle driver fixed block and a needle driver, the side support plate serves as the base of the microneedle module, 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 of the side support plate, the horizontal force sensor and the hollow guide rod provides fixed support and guidance, the needle driver is fixed to the side of the side support plate in a clamped manner through the needle driver fixed block and the side support plate, the driving rod of the needle driver is connected with a transmission rod, a vertical force sensor and a microneedle clamping block in sequence, the needle driver transmits driving force to the microneedle, the microneedle clamping block clamps the microneedle in a screw tightening manner, the microneedle passes through the hollow guide rod, and the microneedle realizes reciprocating movement in the vertical direction under the driving of the needle driver, the movement stroke is 10mm, and the movement speed is 0.1-10mm / s, and the super flexible electrode is placed below the microneedle.

[0011] Preferably, the microneedle module further integrally arranges two force sensors, the two force sensors are a horizontal force sensor and a vertical force sensor respectively, the horizontal force sensor is used to feedback the lateral force condition of the microneedle in real time under the support and guidance connection relationship, the vertical force sensor is used to feedback the longitudinal force condition of the microneedle in real time under the vertical driving connection relationship, and the safety and reliability of the microneedle during the implanting action are monitored together.

[0012] Preferably, the microforceps module comprises a height adjusting pad, a side support block, a forceps driver first fixed block, a straight forceps driver, a bent forceps first driver, a driver adapter block, a forceps driver second fixed block and a bent forceps second driver, the side support block serves as the base of the microforceps module, the side support block is fixed to the right interface of the connector through the height adjusting pad, two square grooves are formed in the surface of the side support block, the straight forceps driver and the bent forceps first driver are clamped and fixed in combination with the forceps driver first fixed block, the movement axes of the two drivers are parallel and the included angle with the vertical direction is 15°, the straight forceps driver is connected with a straight forceps through a driving rod, and the straight forceps driver drives the straight forceps to reciprocate in the inclined direction, the movement stroke is 10mm, and the movement speed is 0.1-20mm / s.

[0013] Preferably, the driving rod of the first driver of the bending forceps is connected to the adapter block of the driver, and the second fixed block of the forceps driver is used to clamp and fix the second driver of the bending forceps, the second driver of the bending forceps is connected to the bending forceps through the driving rod, the second driver of the bending forceps drives the bending forceps to reciprocate in an oblique direction, the movement stroke is 10 mm, the movement speed is 0.1-20 mm / s, and the angle between the movement axis of the second driver of the bending forceps and the vertical direction is 15°.

[0014] Preferably, the offset direction of the movement axis of the first driver of the bending forceps is orthogonal, and the bending forceps realizes oblique reciprocating motion in two orthogonal directions under the driving of the first driver of the bending forceps and the second driver of the bending forceps. The straight forceps and the bending forceps realize various motions such as clamping in three-dimensional space under the driving of the three drivers, and have multi-degree-of-freedom motion capability and tolerance.

[0015] Preferably, the super flexible electrode comprises 16 electrode wires, the electrode wires are arranged on an organic film through a micro-nano manufacturing process, and the electrode wires are adhered to the surface of the electrode storage block by glue.

[0016] Preferably, the height adjusting pad block is used to compensate for the height difference between the ends of the microneedle module and the microforceps module, and the height adjusting pad block uses a three-dimensional printed part which is convenient to manufacture and replace.

[0017] Preferably, the microneedle module and the microforceps module are installed on a multi-degree-of-freedom motion platform with a large range of travel for large surgical scenes.

[0018] Preferably, the microneedle module and the microforceps module are used as an end effector module for small-range high-precision operation.

[0019] Preferably, the control method of the device comprises the following steps:

[0020] Step S1, the electrode wire is suspended by 0.5-1 mm, the micro hole at the end of each wire of the super flexible electrode is exposed, the perforation action of the microneedle is facilitated, the initial state of the implantation operation is that the microneedle of the device is aligned above the micro hole of the first wire at the rightmost side of the super flexible electrode, the straight forceps and the bending forceps are at the side of the microneedle, and the purpose of the implantation operation is to clamp and peel off the single super flexible electrode from the electrode storage block one by one, and then implant it into the target depth after being transferred above the brain tissue.

[0021] Step S2, after the microneedle is above the micropore of the aligned super flexible electrode, it first moves vertically downward under the drive of the needle driver to realize perforation, the bending force moves to the directly below the super flexible electrode under the common drive of the bending force first driver and the bending force second driver, the oblique insertion movement of the bending force leaves a distance on the side of the super flexible electrode to avoid interference, after the bending force moves to the directly below the super flexible electrode, the bending force first driver drives in reverse, so that the bending force performs the hooking movement along the oblique direction to the lower surface of the super flexible electrode, and finally the straight force moves obliquely downward under the drive of the straight force driver, since the motion axis of the straight force driver and the bending force first driver is parallel, the straight force and the bending force can form a 0.1mm×0.2mm rectangular contact surface in design, and can realize close clamping of the super flexible electrode, the state of the implantation device clamping the super flexible electrode is that the microneedle perforates and the straight force and the bending force clamp the electrode wire end;

[0022] Step S3, the electrode storage block is installed above the brain tissue, and the brain tissue is provided with an opening, the super flexible electrode is peeled off from the electrode storage block and transferred to the position above the opening before implantation, the microneedle, the straight force and the bending force jointly carry the super flexible electrode during the peeling process, the microneedle can pass through the micropore of the super flexible electrode, additionally provide a micro force module capable of clamping the super flexible electrode, which can reduce the lateral tension of the microneedle during the electrode peeling process, reduce the bending of the microneedle, promote the completion of the electrode peeling step, and limit the position of the super flexible electrode from the upper and lower surfaces to avoid the risk of falling off;

[0023] Step S4, after the microneedle, the straight forceps and the curved forceps carry the super flexible electrode to the position above the brain tissue opening, the straight forceps slowly move obliquely upward under the drive of the straight forceps driver, and the curved forceps move together with the straight forceps under the drive of the first curved forceps driver following control, and a gap is kept between the two, the lifting function of the straight forceps and the curved forceps can optimize the posture of the super flexible electrode when it penetrates the brain tissue later, so that it is closer to the microneedle and in a more vertical posture, thereby reducing the resistance during the electrode implantation process and reducing the lateral deviation of the super flexible electrode from the microneedle, which helps to improve the implantation accuracy and reduce the implantation damage caused by the implantation trajectory of the microneedle, the microneedle penetrates the brain tissue at a speed of 1mm / s under the drive of the needle driver, while the super flexible electrode is implanted to the target depth, the implantation depth is 0-6mm, after the implantation action of the microneedle is completed, it temporarily stays in the brain tissue, at this time the straight forceps move obliquely upward away from the upper surface of the super 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 super flexible electrode under the drive of the first curved forceps driver, and then move obliquely upward to retract under the drive of the second curved forceps driver, the height at which the straight forceps and the curved forceps lift the super flexible electrode can directly release the electrode wire left outside the brain tissue, which is convenient for the subsequent withdrawal action of the microneedle, the microneedle can only be withdrawn after the microneedle releases the electrode, so this release function can reduce the time of the microneedle staying in the brain tissue after implantation, improve the implantation efficiency and help to reduce the tissue rejection reaction, in addition, this release function can be completed at the lifting height, that is, it does not occupy the lateral space of the super flexible electrode, thereby reducing the interference between the straight forceps and the curved forceps and other electrode wires during the subsequent implantation of multiple electrodes, which helps to realize high-density implantation, the microneedle quickly retracts to outside the brain tissue at a speed of 10mm / s under the drive of the needle driver, and a single super flexible electrode is left in the brain tissue through inertia, thus completing a complete super flexible electrode brain implantation process, this process can be repeatedly performed with high consistency based on the four electric drivers, that is, it can realize the implantation of multiple super flexible electrodes, and the implantation position can be customized, the fast implantation and withdrawal capability of the microneedle and the multi-mode control capability of the straight forceps and the curved forceps can realize the implantation of super flexible electrodes with a single implantation time of 10s and a multiple implantation interval of 0.2mm, with the functions of high implantation efficiency and high implantation density.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] 1. The present application is provided with a micro-needle installed below a super flexible electrode, the micro-needle module also integrates two force sensors, the horizontal force sensor and the vertical force sensor, the horizontal force sensor is used to feedback the lateral force of the micro-needle in real time under the support guiding connection, the vertical force sensor is used to feedback the longitudinal force of the micro-needle in real time under the vertical driving connection, and the two force sensors are used to monitor the safety and reliability of the micro-needle during the implantation action, the electrode wire is suspended by 0.5-1mm, the micro-hole at the end of each wire of the super flexible electrode is exposed, which is convenient for the perforation action of the micro-needle, the initial state of the implantation operation is that the micro-needle of the present implantation device is aligned above the micro-hole of the first wire at the rightmost side of the super flexible electrode, the straight forceps and the curved forceps are on the side of the micro-needle, the purpose of the implantation operation is to clamp and peel off the single super flexible electrode from the electrode storage block one by one, and then implant it into the target depth after being transferred above the brain tissue, the micro-needle is subjected to the support guiding action during the vertical movement, and the horizontal force sensor and the vertical force sensor are integrated to feedback the force of the micro-needle in real time, and the safety and reliability of the micro-needle during the implantation action are monitored;

[0026] 2. After the micro-needle is installed above the micro-hole of the super flexible electrode, the present application is first moved vertically downward under the driving of the needle driver to realize perforation, the curved forceps are driven by the curved forceps first driver and the curved forceps second driver to perform oblique insertion motion to the position directly below the super flexible electrode, the oblique insertion motion of the curved forceps leaves a distance on the side of the super flexible electrode to avoid interference, after the curved forceps move to the position directly below the super flexible electrode, the curved forceps first driver is reversely driven to make the curved forceps perform hooking motion along the oblique direction until the curved forceps are attached to the lower surface of the super flexible electrode, finally the straight forceps are obliquely moved downward under the driving of the straight forceps driver, since the motion axes of the straight forceps driver and the curved forceps first driver are parallel, the straight forceps and the curved forceps can form a rectangular attachment surface with a size of 0.1mm*0.2mm in design, and can realize close clamping of the super flexible electrode, the state of the implantation device clamping the super flexible electrode is that the micro-needle perforates and the straight forceps and the curved forceps clamp the wire end of the electrode, the multi-degree-of-freedom motion capability of the straight forceps and the curved forceps in the three-dimensional space can reliably control the super flexible electrode and the micro-needle to cooperatively act, and complete the whole process of the super flexible electrode implantation;

[0027] 3. The present application is provided with the straight forceps which are obliquely moved upward away from the upper surface of the super flexible electrode under the driving of the straight forceps driver, the curved forceps are first obliquely moved downward to leave a gap with the lower surface of the super flexible electrode under the driving of the curved forceps first driver, and then are obliquely moved upward to be retracted under the driving of the curved forceps second driver, the height of the straight forceps and the curved forceps can directly release the electrode wire left outside the brain tissue, which is convenient for the subsequent withdrawal action of the micro-needle, the micro-needle can be withdrawn only after the micro-forceps release the electrode, so that the release function can reduce the time of the micro-needle remaining in the brain tissue after implantation, improve the implantation efficiency and help to reduce the tissue rejection reaction;

[0028] 4. The present application can realize the implantation of super flexible electrodes with a single implantation time of 10s and a multiple implantation interval of 0.2mm by installing the micro-needle fast implantation and withdrawal capability and the straight forceps and curved forceps multi-mode operation capability, and has the functions of high implantation efficiency and high implantation density. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0030] Figure 2 It is a schematic diagram of the micro-needle module structure of the present application;

[0031] Figure 3 It is a schematic diagram of the micro-forceps module clamp structure of the present application;

[0032] Figure 4 It is a schematic diagram of the implantation preparation state of the super flexible electrode of the present application;

[0033] Figure 5 It is a schematic diagram of the process of clamping the flexible electrode of the present application;

[0034] Figure 6 It is a schematic diagram of the peeling state of the super flexible electrode of the present application;

[0035] Figure 7 It is a schematic diagram of the process of implanting the flexible electrode of the present application;

[0036] Figure 8 It is a schematic diagram of the super flexible electrode implantation process and mechanism motion control of the present application.

[0037] In the figure: 1, connector; 21, side support plate; 22, horizontal force sensor; 23, hollow guide rod; 24, needle driver fixed block; 25, needle driver; 26, transmission rod; 27, vertical force sensor; 28, micro-needle clamping block; 29, micro-needle; 30, height adjusting pad; 31, side support block; 32, forceps driver first fixed block; 33, straight forceps driver; 34, straight forceps; 35, curved forceps first driver; 36, driver adapter block; 37, forceps driver second fixed block; 38, curved forceps second driver; 39, curved forceps. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those of ordinary skill in the art, it can be understood according to the specific circumstances.

[0041] Example 1: Please refer to Figure 1 , Figure 2 and Figure 4The application provides an embodiment of a flexible electrode implanting device and a control method, which comprises a connector 1, a microneedle module and a microforceps module, the microforceps module is fixed to the right interface of the connector 1, the upper half of the connector 1 is provided with a cylindrical groove and a fixed screw hole, which are used for the interface at the end of an arbitrary 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 the base of the microneedle module, the side support plate 21 is fixed to the 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 of the side support plate 21, the horizontal force sensor 22 and the hollow guide rod 23 provides fixed support and guidance, the needle driver 25 is fixed to the side of the side support plate 21 in a clamping mode of the needle driver fixing block 24 and the side support plate 21, a driving rod of the needle driver 25 is sequentially connected with a transmission rod 26, a vertical force sensor 27 and a microneedle clamping block 28, the needle driver 25 transmits a driving force to microneedles 29, the microneedle clamping block 28 clamps the microneedles 29 in a screwing mode, the microneedles 29 pass through the hollow guide rod 23, and the microneedles 29 realize reciprocating movement in the vertical direction under the driving of the needle driver 25, the movement stroke is 10 mm, and the movement speed is 0.1-20 mm / s, a flexible electrode is arranged below the microneedles 29, the microneedle module further integrally arranges two force sensors, the two force sensors are the horizontal force sensor 22 and the vertical force sensor 27 respectively, the horizontal force sensor 22 is used for feeding back the transverse stress condition of the microneedles 29 in real time under the support and guidance connection relationship, the vertical force sensor 27 is used for feeding back the longitudinal stress condition of the microneedles 29 in real time under the vertical driving connection relationship, and the horizontal force sensor 22 and the vertical force sensor 27 jointly monitor the safety and reliability of the microneedles 29 in the implanting action, the electrode wire is suspended by a length of 0.5-1 mm, the micropore reserved at the end of each wire of the flexible electrode is exposed, the perforating action of the microneedles 29 is facilitated, and the initial state of the implanting operation is that the microneedles 29 of the implanting device are aligned above the micropore of the first wire at the rightmost side of the flexible electrode, straight forceps 34 and curved forceps 39 are at the side of the microneedles 29, the purpose of the implanting operation is to clamp and peel off single flexible electrodes from the electrode storage block of the flexible electrode in sequence, and implant the flexible electrodes into the target depth after the flexible electrodes are transferred above the brain tissue, the microneedles 29 are subjected to the support and guidance action in the vertical direction movement, and the horizontal force sensor 22 and the vertical force sensor 27 integrally feed back the stress condition of the microneedles 29 in real time, and jointly monitor the safety and reliability of the microneedles 29 in the implanting action.

[0042] Embodiment 2: refer to Figure 1 、 Figure 3 and Figure 5In one embodiment of the present application, the micro forceps module comprises a height adjustment pad 30, a side support block 31, a first fixed block of forceps driver 32, a straight forceps driver 33, a first driver of curved forceps 35, a driver adapter block 36, a second fixed block of forceps driver 37, a second driver of curved forceps 38. The side support block 31 serves as the base of the micro forceps 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 formed on the surface of the side support block 31 to clamp and fix the straight forceps driver 33 and the first driver of curved forceps 35 in combination with the first fixed block of forceps driver 32. The movement axes of the two drivers are parallel and form an angle of 15° with the vertical direction. The straight forceps driver 33 is connected to the straight forceps 34 through a driving rod. The straight forceps driver 33 drives the straight forceps 34 to reciprocate in an oblique direction. The movement stroke is 10 mm, and the movement speed is 0.1-20 mm / s. The driving rod of the first driver of curved forceps 35 is connected to the driver adapter block 36. The second driver of curved forceps 38 is clamped and fixed in combination with the second fixed block of forceps driver 37. The second driver of curved forceps 38 is connected to the curved forceps 39 through its driving rod. The second driver of curved forceps 38 drives the curved forceps 39 to reciprocate in an oblique direction. The movement stroke is 10 mm, and the movement speed is 0.1-20 mm / s. The movement axis of the second driver of curved forceps 38 forms an angle of 15° with the vertical direction. The offset direction of the movement axis of the first driver of curved forceps 35 is orthogonal. The curved forceps 39 realizes oblique reciprocating motion in two orthogonal directions under the drive of the first driver of curved forceps 35 and the second driver of curved forceps 38. The straight forceps 34 and the curved forceps 39 realize various motions such as clamping in three-dimensional space under the drive of the three drivers, have multi-degree-of-freedom motion capability and tolerance. After the microneedle 29 is aligned above the micropore of the super flexible electrode, it first moves vertically downward under the drive of the needle driver 25 to realize perforation. The curved forceps 39 performs oblique insertion motion to the directly below of the super flexible electrode under the common drive of the first driver of curved forceps 35 and the second driver of curved forceps 38. The oblique insertion motion of the curved forceps 39 leaves a distance on the side of the super flexible electrode to avoid interference. After the curved forceps 39 moves to the directly below of the super flexible electrode, the first driver of curved forceps 35 performs reverse drive to make the curved forceps 39 perform hooking motion in an oblique direction until the curved forceps 39 adheres to the lower surface of the super 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 of curved forceps 35 are parallel, the straight forceps 34 and the curved forceps 39 can form a rectangular adhering surface of 0.1 mm x 0.2 mm in design and can realize close clamping of the super flexible electrode. The state of clamping the super flexible electrode by the implantation device is that the microneedle 29 perforates and the straight forceps 34 and the curved forceps 39 clamp the end of the electrode wire. The multi-degree-of-freedom motion capability of the straight forceps 34 and the curved forceps 39 in three-dimensional space can reliably control the super flexible electrode and the microneedle 29 to cooperate and complete the whole process of super flexible electrode implantation.

[0043] Embodiment 3: Please refer to Figure 1 ,Figure 2 、 Figure 3 and Figure 6 An embodiment of the present application provides a super flexible electrode, which comprises 16 electrode wires, the electrode wires are arranged on an organic film by a micro-nano manufacturing process, the electrode wires are adhered to the surface of an electrode storage block by glue, the height adjusting pad 30 is used for compensating the height difference of the tip of the micro needle module and the micro clamp module, the height adjusting pad 30 uses a three-dimensional printing part which is convenient to manufacture and replace, the micro needle module and the micro clamp module are installed on a multi-degree-of-freedom motion platform with a large range of travel for a large operation scene, the micro needle module and the micro clamp module serve as a tip executor module for small-range high-precision operation, the electrode storage block is installed above the brain tissue, the brain tissue is provided with an opening, the super flexible electrode is peeled off from the electrode storage block and transferred to the position above the opening before implantation, the micro needle 29, the straight clamp 34 and the curved clamp 39 jointly carry the super flexible electrode in the peeling process, the micro needle 29 can pass through the micropore base of the super flexible electrode, the micro clamp module which can clamp the super flexible electrode is additionally provided, the micro clamp module can reduce the transverse tension of the micro needle 29 in the electrode peeling process, reduce the bending of the micro needle 29, promote the completion of the electrode peeling step, and limit the position of the super flexible electrode from the upper and lower surfaces of the super flexible electrode, thereby avoiding the risk of falling off.

[0044] Embodiment 4: please refer to Figure 1 、 Figure 2 、 Figure 6 and Figure 7 An embodiment of the present application provides that, after the micro needle 29, the straight clamp 34 and the curved clamp 39 carry the super flexible electrode to the position above the brain tissue opening, the straight clamp 34 slowly moves obliquely upward under the drive of the straight clamp driver 33, and the curved clamp 39 moves together with the straight clamp 34 under the drive of the curved clamp first driver 35 following control, a gap is maintained between the straight clamp 34 and the curved clamp 39, the lifting function of the straight clamp 34 and the curved clamp 39 can optimize the posture of the super flexible electrode when the super flexible electrode pierces the brain tissue subsequently, so that the super flexible electrode is closer to the micro needle 29 and is in a more vertical posture, thereby reducing the resistance of the electrode implantation process and reducing the transverse pulling of the micro needle 29 by the super flexible electrode, which is helpful to improve the implantation precision and reduce the implantation damage caused by the implantation trajectory of the micro needle 29.

[0045] Embodiment 5: please refer to Figure 1 、 Figure 2 、 Figure 6 Figure 7 and Figure 8, the microneedle 29 is driven by the needle driver 25 to penetrate the brain tissue at a speed of 1 mm / s, and the ultra-flexible electrode is implanted to a target depth, the implantation depth is 0-6 mm, after the implantation of the microneedle 29 is completed, the microneedle 29 is temporarily retained in the brain tissue, at this time, the straight forceps 34 is driven by the straight forceps driver 33 to move obliquely upward away from the upper surface of the ultra-flexible electrode, the bending forceps 39 is first driven by the bending forceps first driver 35 to leave a gap with the lower surface of the ultra-flexible electrode, and then is driven by the bending forceps second driver 38 to retract obliquely upward, the height at which the straight forceps 34 and the bending forceps 39 pull up the ultra-flexible electrode can directly release the electrode wire left outside the brain tissue, facilitating the subsequent withdrawal action of the microneedle 29, the microneedle 29 can be withdrawn only after the microneedle releases the electrode, so that the release function can reduce the time of the microneedle retained in the brain tissue after implantation, improve the implantation efficiency, and help to reduce the tissue rejection reaction, the microneedle module is driven by a single linear driver to realize the actions of perforation, stripping, implantation and withdrawal, the microneedle module is driven by three linear drivers to realize the actions of clamping, stripping, pulling up and releasing, and the two sub-modules cooperate to realize the complete process of the ultra-flexible electrode from the preparation state to the implantation in the brain tissue, without complex manual preloading and coating preparation, which greatly improves the practical value of the implantation and extraction device in the field of ultra-flexible electrode implantation technology. In addition, the implantation and extraction device improves the microneedle stress monitoring conditions based on the design of four linear actuators and two integrated force sensors, improves the safety of the microneedle implantation action, and improves the control reliability of the ultra-flexible electrode by using the innovative microneedle mechanism.

[0046] Embodiment 6: please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6 , the release function can be completed at the pulling-up height, that is, it does not occupy the side space of the ultra-flexible electrode, thereby reducing the interference between the straight forceps 34 and the bending forceps 39 and other electrode wires during subsequent multi-electrode implantation, and helping to realize 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 a single ultra-flexible electrode is retained in the brain tissue by inertia, thereby completing a complete brain implantation process of the ultra-flexible electrode. The process can be repeatedly performed with high consistency based on the implantation and extraction device of the four electric drivers, that is, the implantation of multiple ultra-flexible electrodes can be realized, and the implantation position can be customized. The fast implantation and withdrawal capability of the microneedle 29 and the multi-mode control capability of the straight forceps 34 and the bending forceps 39 can realize the implantation of the ultra-flexible electrode with a single implantation time of 10 s and a multi-implantation interval of 0.2 mm, and have the functions of high implantation efficiency and high implantation density.

[0047] The working principle is that the electrode wire is suspended by 0.5-1mm in length, and the micro hole reserved at the end of each wire of the super flexible electrode is exposed, facilitating the perforation action of the microneedle 29. The initial state of the implantation operation is that the microneedle 29 of the present implantation and extraction device is aligned above the micro hole of the first wire of the rightmost super 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 sequentially clamp and peel off a single super flexible electrode from its electrode storage block, and then implant it into the target depth after transferring it above the brain tissue. After the microneedle 29 is aligned above the micro hole of the super flexible electrode, it first moves vertically downward under the drive of the needle driver 25 to realize perforation. The curved forceps 39 perform oblique insertion motion to the lower side of the super flexible electrode under the common drive of the curved forceps first driver 35 and the curved forceps second driver 38. The oblique insertion motion of the curved forceps 39 leaves a distance on the side of the super flexible electrode to avoid interference. After the curved forceps 39 move to the lower side of the super flexible electrode, the curved forceps first driver 35 performs reverse drive to make the curved forceps 39 perform hooking motion in the oblique direction until the curved forceps 39 adhere to the lower surface of the super flexible electrode. Finally, the straight forceps 34 move obliquely downward under the drive of the straight forceps driver 33. Since the motion 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 adhering surface in design and can realize close clamping of the super flexible electrode. The state of the implantation and extraction device clamping the super flexible electrode is that the microneedle 29 perforates and the straight forceps 34 and the curved forceps 39 clamp the electrode wire end. The electrode storage block is installed above the brain tissue, and an opening is provided above the brain tissue. The super flexible electrode is peeled off from the electrode storage block before implantation and transferred above the opening position. The microneedle 29, the straight forceps 34 and the curved forceps 39 jointly carry the super flexible electrode during the peeling process. The microneedle 29 can pass through the micro hole of the super flexible electrode and additionally provide a micro forceps module capable of clamping the super flexible electrode. This 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 bidirectionally limit the position of the super flexible electrode from its upper and lower surfaces to avoid the risk of falling off. After the microneedle 29, the straight forceps 34 and the curved forceps 39 carry the super flexible electrode to the opening position of the brain tissue, the straight forceps 34 slowly move obliquely upward under the drive of the straight forceps driver 33, while the curved forceps 39 move together with the straight forceps 34 under the drive of the curved forceps first driver 35 following control, and a gap is maintained between them. The lifting function of the straight forceps 34 and the curved forceps 39 can optimize the posture of the super flexible electrode during subsequent penetration of the brain tissue, make it closer to the microneedle 29, and be in a more vertical posture, thereby reducing the resistance during the electrode implantation process and the lateral pulling of the super flexible electrode on the microneedle 29, which helps to improve the implantation precision and reduce the implantation damage caused by the implantation trajectory of the microneedle 29. The microneedle 29 penetrates the brain tissue at a speed of 1mm / s under the drive of the needle driver 25, while the super flexible electrode is implanted to the target depth. The implantation depth is 0-6mm,After the implantation action of the microneedle 29 is completed, it is temporarily left in the brain tissue, at this time the straight forceps 34 is driven by the straight forceps driver 33 to move obliquely upward away from the upper surface of the super flexible electrode, the bending forceps 39 is first driven by the bending forceps first driver 35 to leave a gap with the lower surface of the super flexible electrode obliquely downward, and then is driven by the bending forceps second driver 38 to retract obliquely upward, the height at which the straight forceps 34 and the bending forceps 39 pull up the super flexible electrode can directly release the electrode wire left outside the brain tissue, facilitating the subsequent withdrawal action of the microneedle 29, the microneedle 29 can only be withdrawn after the microneedle releases the electrode, so this release function can not only reduce the time of the microneedle left in the brain tissue after implantation, but also improve the implantation efficiency and help to reduce the tissue rejection reaction, in addition, this release function can be completed at the pull-up height, that is, it will not occupy the side space of the super flexible electrode, so as to reduce the interference between the straight forceps 34 and the bending forceps 39 and other electrode wires during subsequent multi-electrode implantation, which helps to realize high-density implantation, the microneedle 29 is driven by the needle driver 25 to quickly retract to the outside of the brain tissue at a speed of 10mm / s, and the single super flexible electrode is left in the brain tissue through inertia, thus a complete super flexible electrode brain implantation process is completed, which can be repeatedly performed with high consistency based on the implantation device of the four electric drivers, that is, the implantation of multiple super flexible electrodes can be realized, and the implantation position can be customized, the fast implantation and retraction of the microneedle 29 and the multi-mode control ability of the straight forceps 34 and the bending forceps 39 can realize the implantation of the super flexible electrode with a single implantation time of 10s and a multiple implantation interval of 0.2mm, and have the functions of high implantation efficiency and high implantation density.

[0048] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the present application being defined by the appended claims rather than by the foregoing description, and it is intended that all changes which come within the meaning and range of equivalency of the claims are resolvable position the present application. Any reference signs in the claims should not be construed as limiting the claims to the figures in which the reference signs are used.

Claims

1. A device for implanting a super flexible electrode, comprising a connector (1), a microneedle module and a microforceps module, characterized in that: The micro forceps module is fixed to the right interface of the connector (1), and the upper half of the connector (1) is provided with a cylindrical groove and a fixing screw hole for the interface at the end of an arbitrary multi-degree-of-freedom motion platform; The micro needle 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 the base of the micro needle module, is fixed to the left interface of the connector (1), and has one end of the horizontal force sensor (22) fixed thereto and the other end connected to the hollow guide rod (23). The connection of the side support plate (21), the horizontal force sensor (22), and the hollow guide rod (23) provides fixed support and guidance. The needle driver (25) is fixed to the side of the side support plate (21) in a clamped manner through the needle driver fixing block (24) and the side support plate (21). The driving rod of the needle driver (25) is sequentially connected with a transmission rod (26), a vertical force sensor (27), and a micro needle clamping block (28). The needle driver (25) transmits driving force to the micro needle (29). The micro needle clamping block (28) clamps the micro needle (29) by screwing. The micro needle (29) penetrates through the hollow guide rod (23). The micro needle (29) realizes reciprocating movement in the vertical direction under the driving of the needle driver (25), the movement stroke is 10 mm, the movement speed is 0.1-20 mm / s, and the ultra-flexible electrode is placed below the micro needle (29).

2. The device for implanting an ultra-flexible electrode according to claim 1, wherein: The micro forceps module comprises a height adjusting pad (30), a side support block (31), a forceps driver first fixing block (32), a straight forceps driver (33), a curved forceps first driver (35), a driver adapter block (36), a forceps driver second fixing block (37), and a curved forceps second driver (38). The side support block (31) serves as the base of the micro forceps module, is fixed to the right interface of the connector (1) through the height adjusting pad (30), and has two square grooves formed on the surface thereof. The straight forceps driver (33) and the curved forceps first driver (35) are clamped and fixed in combination with the forceps driver first fixing block (32). The movement axes of the two drivers are parallel and form an angle of 15° with the vertical direction. The straight forceps driver (33) is connected with the straight forceps (34) through a driving rod. The straight forceps driver (33) drives the straight forceps (34) to reciprocate in the oblique direction, the movement stroke is 10 mm, and the movement speed is 0.1-20 mm / s.

3. The device for implanting an ultra-flexible electrode according to claim 2, wherein: The driving rod of the curved forceps first driver (35) is connected with the driver adapter block (36). The curved forceps second driver (38) is clamped and fixed in combination with the forceps driver second fixing block (37). The curved forceps second driver (38) is connected with the curved forceps (39) through its driving rod. The curved forceps second driver (38) drives the curved forceps (39) to reciprocate in the oblique direction, the movement stroke is 10 mm, the movement speed is 0.1-20 mm / s, and the movement axis of the curved forceps second driver (38) forms an angle of 15° with the vertical direction.

4. The device for implanting an ultra-flexible electrode according to claim 3, wherein: The offset direction of the bending forceps first driver (35) motion axis is orthogonal, the bending forceps (39) realizes oblique reciprocating motion in two orthogonal directions under the driving of the bending forceps first driver (35) and the bending forceps second driver (38), the straight forceps (34) and the bending forceps (39) realize various motions such as clamping in three-dimensional space under the driving of the three drivers, and have multi-degree-of-freedom motion capability and tolerance.

5. The device for implanting an ultra-flexible electrode according to claim 1, wherein: The super flexible electrode contains 16 electrode lines, the electrode lines are arranged on an organic film through a micro-nano manufacturing process, and the electrode lines are adhered to the surface of the electrode storage block by glue.

6. The device for inserting an ultra-flexible electrode according to claim 2, characterized in that: The height adjusting pad (30) is used for compensating the height difference of the ends of the microneedle module and the microforceps module, and the height adjusting pad (30) is a three-dimensional printing part which is convenient to manufacture and replace.

7. The device of claim 1, wherein: The microneedle module and the microforceps module are installed on a multi-degree-of-freedom motion platform with a large range of travel for large operation scenes.

8. The device of claim 1, wherein: The microneedle module and the microforceps module serve as an end effector module for small-range high-precision operation.

Images