Flexible electrode automatic implantation operation system

Abstract

The invention provides a flexible electrode automatic implantation operation system, which belongs to the field of electrode implantation operation systems, and comprises an implantation robot, a flexible electrode fixing table, a photoelectric navigator, a first positioning mark, a second positioning mark, a third positioning mark, a craniocerebral supporting plate and an optical platform, the implantation robot can move to the side of the optical platform, and the flexible electrode fixing table is fixed on the optical platform; a first positioning mark is arranged on the craniocerebral supporting plate, a second positioning mark is arranged on an implantation head at the tail end of the implantation robot, and a third positioning mark is arranged on the flexible electrode fixing table and used for unifying the position and posture information of the implantation robot, the flexible electrode fixing table and the craniocerebral supporting plate to a photoelectric navigator coordinate system; and the photoelectric navigator automatically adjusts the flexible electrode and the brain to a working area of the implantation robot. Manual intervention is not needed, and the implantation operation efficiency is effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of electrode implantation surgical systems, and in particular relates to a flexible electrode automatic implantation surgical system. Background Art

[0002] When the flexible electrode is implanted, the implantation needle picks up the electrode under the guidance of the microscopic visual optical path and implants the electrode into the target point of the brain. When the existing flexible electrode implantation surgery system is working, the flexible electrode and the brain implantation area need to be manually adjusted to the field of view of the microscopic visual optical path. The microscopic visual optical path field of the implantation robot is small, and it takes a long time to manually adjust the flexible electrode and the brain implantation area to the field of view of the microscopic visual optical path. The flexible electrode implantation surgery system is mainly composed of an implantation mechanism and a microscopic visual optical path. The implantation mechanism controls the implantation needle under the guidance of the microscopic visual image to perform the flexible electrode implantation surgery. After replacing the implantation needle, the implantation needle needs to be manually adjusted to the field of view of the microscopic visual optical path. And because the field of view of the microscopic visual optical path is small, it takes a long time for the implantation needle to be adjusted to the field of view of the microscopic visual optical path, resulting in low efficiency of the implantation surgery. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a flexible electrode automatic implantation surgical system, which unifies the coordinates of the implantation needle, flexible electrode, and brain into the same coordinate system, thereby improving the efficiency of the flexible electrode implantation surgery.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A flexible electrode automatic implantation surgical system comprises an implantation robot, a flexible electrode fixing platform, an optoelectronic navigator, a first positioning mark, a second positioning mark, a third positioning mark, a skull support plate, and an optical platform; the implantation robot can be moved to the side of the optical platform, and the flexible electrode fixing platform is fixed on the optical platform; a first positioning mark is arranged on the skull support plate, a second positioning mark is arranged on the implantation head at the end of the implantation robot, and a third positioning mark is arranged on the flexible electrode fixing platform, so as to unify the position and posture information of the implantation robot, the flexible electrode fixing platform, and the skull support plate into the optoelectronic navigator coordinate system; the optoelectronic navigator automatically adjusts the flexible electrode and the skull to the working area of ​​the implantation robot.

[0006] Furthermore, it also includes a first movement axis and a second movement axis, the first movement axis is fixed on the optical platform, the second movement axis is connected to the first movement axis, and the first movement axis and the second movement axis are arranged orthogonally.

[0007] Furthermore, the skull support plate is fixed on the slider of the second motion axis, and the spatial position of the skull support plate is adjusted by the movement of the first motion axis and the second motion axis; the skull is placed on the skull support plate, and the skull support plate is driven to move by the first motion axis and the second motion axis.

[0008] Furthermore, the photoelectric navigator automatically identifies the first positioning mark, the second positioning mark, and the third positioning mark, that is, obtains the coordinate information of the first positioning mark, the second positioning mark, and the third positioning mark in the photoelectric navigator coordinate system.

[0009] Furthermore, the implantation robot includes a mobile trolley, a six-degree-of-freedom robotic arm, an implantation head, and a display; the six-degree-of-freedom robotic arm and the display are fixed to the mobile trolley, and the implantation head is fixed to the end of the six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm is used to adjust the spatial position and posture of the implantation head, and adjust the implantation head to the implantation surgery area; the implantation head is used to accurately control the position of the implantation needle to achieve the picking up and implantation surgery operation of the flexible electrode.

[0010] Furthermore, the flexible electrode fixing platform includes an N-type fixing frame, a first linear displacement platform, a second linear displacement platform, and a third linear displacement platform, which are used to adjust the flexible electrode to a position and posture convenient for implantation surgery; the N-type fixing frame is fixed on the optical platform, the first linear motion platform is installed on the N-type fixing frame, the second linear motion platform is installed on the first linear motion platform, and the third linear motion platform is installed on the second linear motion platform; the first linear displacement platform, the second linear displacement platform, and the third linear displacement platform are arranged orthogonally in pairs to achieve three-dimensional spatial position adjustment.

[0011] Furthermore, the flexible electrode fixing platform also includes a first angle swing platform and a second angle swing platform. The first angle swing platform is installed on the third linear motion platform, and the second angle swing platform is installed on the first angle swing platform to achieve two-dimensional posture adjustment of the object installed on the second angle swing platform.

[0012] Furthermore, the flexible electrode fixing platform also includes a third positioning mark, an adapter, an adsorption head, a flexible electrode arrangement member, and a flexible electrode. The third positioning mark is pasted on the second angle swing platform, the adapter is installed on the second angle swing platform, the adsorption head is installed on the adapter, the adsorption head is connected to the vacuum generating device pipeline, and a vacuum adsorption force is generated to adsorb the flexible electrode arrangement member, and the flexible electrode is pasted on the flexible electrode arrangement member.

[0013] Furthermore, the implant head includes a fixed base, which fixes the implant head to the end of the six-degree-of-freedom robotic arm, the first linear motion table is fixed to the fixed base, the second linear motion table is fixed to the first linear motion table, the L-shaped part is fixed to the second linear motion table, the third linear motion table is fixed to the L-shaped part, the T-shaped part is fixed to the L-shaped part, the voice coil electrode is fixed to the T-shaped part, and the U-shaped part is fixed to the motion axis of the voice coil electrode; the force sensor is fixed to the U-shaped part for real-time measurement of the implant resistance received by the implant needle; the implant needle fixing seat is fixed to the U-shaped part by screws, and the implant needle fixing cover fixes the implant needle to the implant needle fixing seat.

[0014] Furthermore, the implant head also includes a fixed plate, which is fixed on a third linear motion table, two manual linear motion tables are installed on the fixed plate, and two manual angle swing tables are respectively fixed on the two manual linear motion tables; two microscopic vision lens fixing seats are respectively fixed on the two manual angle swing tables; two microscopic vision lenses are respectively fixed on the two microscopic vision lens fixing seats, and two industrial phases are respectively installed on the two microscopic vision lenses; the two manual linear motion tables and the other two manual angle swing tables are used to adjust the centers of the two microscopic vision optical paths to the tip of the implant needle; the two microscopic vision optical paths are respectively formed by two industrial cameras and two microscopic vision lenses.

[0015] Furthermore, the implantation head is used for accurate electrode pickup and implantation of the implantation needle under the guidance of microscopic images, and the relative posture of the implantation needle and the two microscopic visual optical paths is fixed, that is, the posture coordinates of the implantation needle and the microscopic visual optical path are unified.

[0016] Furthermore, the first linear motion stage, the second linear motion stage, and the third linear motion stage are arranged orthogonally in pairs.

[0017] Beneficial effects:

[0018] 1) The present invention consists of an implantation robot, a flexible electrode fixing platform, an optoelectronic navigator, a skull and a positioning marker. Positioning markers that can be automatically identified by the optoelectronic navigator are arranged on the implantation robot, the flexible electrode fixing platform and the skull support plate. Therefore, the position and posture information of the implantation robot, the flexible electrode fixing platform and the skull support plate are unified into the optoelectronic navigator coordinate system, which can automatically control the movement of the flexible electrode and the skull to the microscopic visual optical path field of view of the implantation robot without manual intervention, effectively improving the efficiency of the implantation surgery. The system can automatically adjust the flexible electrode and the skull to the working area of ​​the implantation surgery robot, solving the problem that the existing flexible electrode implantation surgery requires manual guidance and the implantation surgery has a low degree of automation.

[0019] 2) The present invention discloses an implant head for flexible electrode implantation, which consists of a three-dimensional linear motion slide (optical platform - x, y, z axis), an industrial camera, a microscope lens, a manual linear motion stage, a manual angle swing stage, a voice coil motor, a force sensor, an implant needle and a positioning marker, and is used for the implant needle to accurately pick up electrodes and implant operations under the guidance of microscopic images. In the present invention, the relative posture of the implant needle and the two microscopic visual optical paths is fixed, that is, the posture coordinates of the implant needle and the microscopic visual optical path are unified, and after replacing the implant needle, there is no need to manually adjust the implant needle to the field of view of the microscopic visual optical path.

[0020] 3) The present invention discloses an implant head that integrates an implant mechanism and a microscopic visual optical path. The relative positions of the implant needle and the two microscopic visual optical paths are fixed, and the implant needle and the microscopic visual optical path have a coordinate system. After replacing the implant needle, there is no need to manually adjust the implant needle to the field of view of the microscopic visual optical path, which can effectively shorten the system calibration time after the implant needle is replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A structural diagram of a flexible electrode automatic implantation surgical system of the present invention;

[0022] Figure 2 This is a schematic diagram of the implant robot;

[0023] Figure 3 is a schematic diagram of the implant head;

[0024] Figure 4 Schematic diagram of the flexible electrode fixing platform.

[0025] Among them, the accompanying drawings are marked as follows: implant robot 1, flexible electrode fixing platform 2, photoelectric navigator 3, brain 4, first positioning mark 5, second positioning mark 6, third positioning mark 7, brain support plate 8, first motion axis 9, second motion axis 10, optical platform 11, mobile trolley 12, six-degree-of-freedom mechanical arm 13, implant head 14, display 15, N-type fixed frame 16, first linear displacement table 17, second linear displacement table 18, third linear displacement table 19, first angle swing table 20, second angle swing table 21, adapter 22, adsorption head 23, flexible electrode arrangement 24, flexible electrode 25, fixed base 26, first linear motion table 27, second linear motion table 28, third linear motion table 29, first linear motion table 30, second linear motion table 31, adapter 32, adsorption head 33, flexible electrode arrangement 34, flexible electrode 35, fixed base 36, first linear motion table 37, second linear motion table 38, third linear motion table 39, first linear motion table 40, second linear motion table 41, third linear motion table 42, third linear motion table 43, third linear motion table 44, third linear motion table 45, third linear motion table 46, first linear motion table 47, second linear motion table 48, third linear motion table 49, first linear motion table 50, second linear motion table 51, third linear motion table 52, third linear motion table 53, third linear motion table 54, third linear motion table 55, third linear motion table 56, third linear motion table 57, third linear motion table 58, third linear motion table 59, third linear motion table 59, third linear motion table 51, third linear motion table 52, third linear motion table 53, third linear motion table 54, third linear motion table 55, third linear motion table 56, third linear motion table 57 Moving table 28, L-shaped part 29, third linear motion table 30, T-shaped part 31, voice coil electrode 32, first industrial camera 33, second industrial camera 34, first microscopic vision lens 35, second microscopic vision lens 36, fixing plate 37, first manual linear motion table 38, second manual linear motion table 39, first manual angle swing table 40, second manual angle swing table 41, first microscopic vision lens fixing seat 42, second microscopic vision lens fixing seat 43, first microscopic vision lens fixing cover 44, second microscopic vision lens fixing cover 45, force sensor 46, U-shaped part 47, implant needle fixing seat 48, implant needle fixing cover 49, implant needle 50. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0027] like Figure 1 As shown, a flexible electrode automatic implantation surgical system of the present invention includes an implantation robot 1, a flexible electrode fixing platform 2, a photoelectric navigator 3, a first positioning mark 5, a second positioning mark 6, a third positioning mark 7, a cranial support plate 8, a first motion axis 9, a second motion axis 10, and an optical platform 11.

[0028] The position and posture information of the implant robot 1, the flexible electrode fixing platform 2, and the cranial support plate 8 are unified into the photoelectric navigator coordinate system.

[0029] The implant robot 1 can be moved to the side of the optical platform 11 by casters, and the flexible electrode fixing platform 2 is fixed to the optical platform 11 by screws. The photoelectric navigator 3 is placed on the ground by a bracket, and the working area of ​​the photoelectric navigator 3 covers the implantation operation area, and can automatically identify the first positioning mark 5, the second positioning mark 6, and the third positioning mark 7. The first positioning mark 5 is arranged on the skull support plate 8, the second positioning mark 6 is arranged on the terminal implantation head of the implant robot 1, and the third positioning mark 7 is arranged on the flexible electrode fixing platform 2. Therefore, the position and posture coordinates of the terminal implantation head of the implant robot 1, the flexible electrode fixing platform 2, and the skull support plate 8 can be unified to the photoelectric navigator 3, and the terminal implantation head of the implant robot 1, the terminal flexible electrode of the flexible electrode fixing platform 2, and the skull support plate 8 can be adjusted to the operation area of ​​the skull 4, so as to realize the automatic implantation operation of the flexible electrode based on the coordinates of the photoelectric navigator.

[0030] The first motion axis 9 is fixed to the optical platform 11 by screws, and the second motion axis 10 is connected to the first motion axis 9 by screws, and the first motion axis 9 and the second motion axis 10 are arranged orthogonally. The cranial support plate 8 is fixed to the slider of the second motion axis 10 by screws, and the spatial position of the cranial support plate 8 can be adjusted by the movement of the first motion axis 9 and the second motion axis 10. The photoelectric navigator 3 can automatically identify the first positioning mark 5, the second positioning mark 6, and the third positioning mark 7, that is, obtain the coordinate information of the first positioning mark 5, the second positioning mark 6, and the third positioning mark 7 in the coordinate system of the photoelectric navigator 3.

[0031] like Figure 2 As shown, the implantation robot 1 includes a mobile trolley 12, a six-degree-of-freedom mechanical arm 13, an implantation head 14, and a display 15, which are used for picking up and implanting flexible electrodes.

[0032] The six-degree-of-freedom mechanical arm 13 and the display 15 are fixed to the mobile trolley 12 by screws, and the implant head 14 is fixed to the end of the six-degree-of-freedom mechanical arm 13 by screws. The six-degree-of-freedom mechanical arm 13 is used to adjust the spatial position and posture of the implant head 14, and can conveniently adjust the implant head 14 to the implantation operation area. The display 15 is used to run the application software of the implantation surgery robot 1, including image display, hardware control and surgical operation control. The implant head 14 is used to accurately control the position of the implant needle to realize the pickup and implantation operation of the flexible electrode.

[0033] The mobile trolley 12 is used for fixing and installing the display 15, the six-degree-of-freedom mechanical arm 13, and the implant head 14, so as to move the implant head 14 to the surgical area. The display 15 is used to display the application software operation interface of the implant robot 1, the base of the six-degree-of-freedom mechanical arm 13 is fixed on the mobile trolley 12, and the implant head 14 is fixed at the end, so as to adjust the position and posture of the implant head 14 in a large range of space.

[0034] like Figure 4 As shown, the flexible electrode fixing platform 2 includes an N-type fixing frame 16, a first linear displacement platform 17, a second linear displacement platform 18, a third linear displacement platform 19, a first angle swing platform 20, a second angle swing platform 21, a third positioning mark 7, an adapter 22, an adsorption head 23, a flexible electrode arrangement component 24, and a flexible electrode 25, which are used to adjust the spatial position and posture of the flexible electrode 25, and adjust the flexible electrode 25 to a position and posture that is convenient for implantation surgery.

[0035] The brain 4 is placed on the brain support plate 8, and the brain support plate 8 is driven to move by the first motion axis 9 and the second motion axis 10. The implant robot 1, the flexible electrode fixing platform 2 and the brain support plate 8 are respectively arranged with the first positioning mark 5, the second positioning mark 6 and the third positioning mark 7. The above three positioning marks are automatically identified by the photoelectric navigator 3, and the spatial posture information of the implant robot 1, the flexible electrode 25 and the brain 4 is unified into the photoelectric navigator coordinate system.

[0036] The present invention is based on a photoelectric navigator 3 and can automatically adjust the flexible electrode 25 and the brain 4 to the working area of ​​the implantation robot 1, thereby solving the problems that the existing flexible electrode implantation surgery requires manual guidance and the implantation surgery has a low degree of automation.

[0037] like Figure 4As shown, the N-type fixed frame 16 is fixed to the optical platform 11 by screws, the first linear motion stage 17 is installed on the N-type fixed frame 16 by screws, the second linear motion stage 18 is installed on the first linear motion stage 17 by screws, and the third linear motion stage 19 is installed on the second linear motion stage 18 by screws. The first linear displacement stage 17, the second linear displacement stage 18, and the third linear displacement stage 19 are arranged orthogonally in pairs, which can realize three-dimensional spatial position adjustment. The first angle swing table 20 is installed on the third linear motion stage 19 by screws, and the second angle swing table 21 is installed on the first angle swing table 20 by screws, which can realize two-dimensional posture adjustment of the object installed on the second angle swing table 21. The third positioning mark 7 is attached to the second angle swing table 21, the adapter 22 is installed on the second angle swing table 21 by screws, and the adsorption head 23 is installed on the adapter 22 by screws. The adsorption head 23 is connected to the vacuum generating device pipeline, which can generate vacuum adsorption force to adsorb the flexible electrode arrangement 24, and the flexible electrode 25 is attached to the flexible electrode arrangement 24. The above structure can realize the three-dimensional spatial position and two-dimensional posture adjustment of the flexible electrode to facilitate the implantation operation.

[0038] like Figure 3 As shown, the implant head 14 is used for accurate electrode pickup and implantation of the implant needle 50 under the guidance of a microscopic image. In the present invention, the relative position of the implant needle 50 and the two microscopic visual optical paths (composed of the first industrial camera 33, the second industrial camera 34, the first microscopic visual lens 35, and the second microscopic visual lens 36) is fixed, that is, the position coordinates of the implant needle 50 and the microscopic visual optical path are unified. After replacing the implant needle 50, there is no need to manually adjust the implant needle 50 to the field of view of the microscopic visual optical path.

[0039] like Figure 3As shown, the implant head 14 includes a fixed base 26, a first linear motion stage 27 and a second linear motion stage 28, an L-shaped part 29, a third linear motion stage 30, a second positioning mark 6, a T-shaped part 31, a voice coil electrode 32, a first industrial camera 33, a second industrial camera 34, a first microscopic vision lens 35, a second microscopic vision lens 36, a fixed plate 37, a first manual linear motion stage 38, a second manual linear motion stage 39, a first manual angle swing stage 40, a second manual angle swing stage 41, a first microscopic vision lens fixing seat 42, a second microscopic vision lens fixing seat 43, a first microscopic vision lens fixing cover 44, a second microscopic vision lens fixing cover 45, a force sensor 46, a U-shaped part 47, an implant needle fixing seat 48, an implant needle fixing cover 49, and an implant needle 50. The fixed base 26 fixes the implant head 14 to the end of the six-degree-of-freedom mechanical arm 13 by screws, the first linear motion platform 27 is fixed to the fixed base 26 by screws, the second linear motion platform 28 is fixed to the first linear motion platform 27 by screws, the L-shaped part 29 is fixed to the second linear motion platform 28 by screws, the third linear motion platform 30 is fixed to the L-shaped part 29 by screws, and the first linear motion platform 27, the second linear motion platform 28, and the third linear motion platform 30 are arranged orthogonally in pairs. The T-shaped part 31 is fixed to the L-shaped part 29 by screws, the voice coil electrode 32 is fixed to the T-shaped part 31 by screws, and the U-shaped part 47 is fixed to the motion axis of the voice coil electrode 32 by screws. The force sensor 46 is fixed to the U-shaped part 47 by screws, and is used to measure the implant resistance received by the implant needle 50 in real time. The implant needle fixing seat 48 is fixed to the U-shaped part 47 by screws, and the implant needle fixing cover 49 fixes the implant needle 50 to the implant needle fixing seat 48 by screws.

[0040] The fixing plate 37 is fixed to the third linear motion stage 30 by screws, the first manual linear motion stage 38 and the second manual linear motion stage 39 are installed on the fixing plate 37 by screws, and the first manual angle swing stage 40 and the second manual angle swing stage 41 are fixed to the first manual linear motion stage 38 and the second manual linear motion stage 39 by screws. The first microscopic visual lens fixing seat 42 and the second microscopic visual lens fixing seat 43 are fixed to the first manual angle swing stage 40 and the second manual angle swing stage 41 by screws. The first microscopic visual lens fixing cover 44 and the second microscopic visual lens fixing cover fix the first microscopic visual lens 35 and the second microscopic visual lens 36 to the first microscopic visual lens fixing seat 42 and the second microscopic visual lens fixing seat 43 by screws, respectively, and the first industrial camera 33 and the second industrial camera 34 are respectively installed on the first microscopic visual lens 35 and the second microscopic visual lens 36 by threads. The first manual linear motion stage 38 , the second manual linear motion stage 39 , the first manual angle swing stage 40 , and the second manual angle swing stage 41 are used to adjust the centers of the two microscopic visual light paths to the tip of the implant needle 50 .

[0041] When the microscopic visual optical path is installed for the first time, the first manual linear motion stage 38, the second manual linear motion stage 39, the first manual angle swing stage 40, and the second manual angle swing stage 41 are adjusted so that the implant needle 50 is within the field of view of the left and right microscopic visual optical paths.

[0042] In the present invention, the relative position relationship between the implant needle 50 and the left and right microscopic visual optical paths remains unchanged, and there is no need to recalibrate the relative relationship between the implant needle and the microscopic visual optical path after replacing the implant needle 50. The first positioning mark 5 is arranged on the skull support plate 8, and is relatively fixed to the position of the skull 4. The photoelectric navigator 3 obtains the relative position and posture deviation of the skull 4 by automatically identifying the coordinates of the first positioning mark 5. Since the initial position and posture of the second positioning mark 6 and the implant needle 50 are fixed, the posture of the implant needle 50 and the position of the implant needle tip can be tracked in real time by the photoelectric navigator 3.

Claims

1. A flexible electrode automatic implantation surgical system, characterized in that: It includes an implantation robot, a flexible electrode fixing platform, a photoelectric navigator, a first positioning marker, a second positioning marker, a third positioning marker, a cranial support plate, and an optical platform; The implant robot can be moved to the side of the optical platform, and the flexible electrode fixing platform is fixed on the optical platform; a first positioning mark is arranged on the skull support plate, a second positioning mark is arranged on the implant head at the end of the implant robot, and a third positioning mark is arranged on the flexible electrode fixing platform, which are used to unify the position and posture information of the implant robot, the flexible electrode fixing platform, and the skull support plate into the coordinate system of the photoelectric navigator; the photoelectric navigator automatically adjusts the flexible electrode and the skull to the working area of ​​the implant robot.

2. The flexible electrode automatic implantation surgical system according to claim 1, characterized in that: It also includes a first moving axis and a second moving axis. The first moving axis is fixed on the optical platform, the second moving axis is connected to the first moving axis, and the first moving axis and the second moving axis are arranged orthogonally.

3. The flexible electrode automatic implantation surgical system according to claim 2, characterized in that: The skull support plate is fixed on the slider of the second motion axis, and the spatial position of the skull support plate is adjusted by the movement of the first motion axis and the second motion axis; the skull is placed on the skull support plate, and the skull support plate is driven to move by the first motion axis and the second motion axis.

4. The flexible electrode automatic implantation surgical system according to claim 1, characterized in that: The photoelectric navigator automatically identifies the first positioning mark, the second positioning mark, and the third positioning mark, that is, obtains the coordinate information of the first positioning mark, the second positioning mark, and the third positioning mark in the photoelectric navigator coordinate system.

5. The flexible electrode automatic implantation surgical system according to claim 1, characterized in that: The implantation robot comprises a mobile trolley, a six-degree-of-freedom robotic arm, an implantation head, and a display; the six-degree-of-freedom robotic arm and the display are fixed on the mobile trolley, and the implantation head is fixed on the end of the six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm is used to adjust the spatial position and posture of the implantation head, and adjust the implantation head to the implantation operation area; the implantation head is used to accurately control the position of the implantation needle, so as to realize the picking up and implantation operation of the flexible electrode.

6. The flexible electrode automatic implantation surgical system according to claim 1, characterized in that: The flexible electrode fixing platform includes an N-type fixing frame, a first linear displacement platform, a second linear displacement platform, and a third linear displacement platform, which are used to adjust the flexible electrode to a position and posture convenient for implantation surgery; the N-type fixing frame is fixed on the optical platform, the first linear motion platform is installed on the N-type fixing frame, the second linear motion platform is installed on the first linear motion platform, and the third linear motion platform is installed on the second linear motion platform; the first linear displacement platform, the second linear displacement platform, and the third linear displacement platform are arranged orthogonally in pairs to achieve three-dimensional spatial position adjustment.

7. The flexible electrode automatic implantation surgical system according to claim 1, characterized in that: The flexible electrode fixing platform also includes a first angle swing platform and a second angle swing platform. The first angle swing platform is mounted on the third linear motion platform, and the second angle swing platform is mounted on the first angle swing platform to achieve two-dimensional posture adjustment of the object mounted on the second angle swing platform.

8. The flexible electrode automatic implantation surgical system according to claim 7, characterized in that: The flexible electrode fixing platform also includes a third positioning mark, an adapter, an adsorption head, a flexible electrode arrangement member, and a flexible electrode. The third positioning mark is pasted on the second angle swing platform, the adapter is installed on the second angle swing platform, the adsorption head is installed on the adapter, the adsorption head is connected to the vacuum generating device pipeline, and a vacuum adsorption force is generated to adsorb the flexible electrode arrangement member, and the flexible electrode is pasted on the flexible electrode arrangement member.

9. The flexible electrode automatic implantation surgical system according to claim 5, characterized in that: The implant head includes a fixed base, which fixes the implant head to the end of a six-degree-of-freedom robotic arm, a first linear motion table fixed to the fixed base, a second linear motion table fixed to the first linear motion table, an L-shaped part fixed to the second linear motion table, a third linear motion table fixed to the L-shaped part, a T-shaped part fixed to the L-shaped part, a voice coil electrode fixed to the T-shaped part, and a U-shaped part fixed to the motion axis of the voice coil electrode; a force sensor is fixed to the U-shaped part for real-time measurement of the implant resistance received by the implant needle; an implant needle fixing seat is fixed to the U-shaped part by screws, and an implant needle fixing cover fixes the implant needle to the implant needle fixing seat.

10. The flexible electrode automatic implantation surgical system according to claim 9, characterized in that: The implant head also includes a fixed plate, which is fixed on a third linear motion table, two manual linear motion tables, which are installed on the fixed plate, and two manual angle swing tables, which are respectively fixed on the two manual linear motion tables; two microscopic vision lens fixing seats are respectively fixed on the two manual angle swing tables; two microscopic vision lenses are respectively fixed on the two microscopic vision lens fixing seats, and two industrial phases are respectively installed on the two microscopic vision lenses; the two manual linear motion tables and the other two manual angle swing tables are used to adjust the centers of the two microscopic vision optical paths to the tip of the implant needle; the two microscopic vision optical paths are respectively formed by two industrial cameras and two microscopic vision lenses.

11. The flexible electrode automatic implantation surgical system according to claim 10, characterized in that: The implantation head is used for accurate electrode pickup and implantation of the implantation needle under the guidance of microscopic images. The relative positions of the implantation needle and the two microscopic visual light paths are fixed, that is, the position coordinates of the implantation needle and the microscopic visual light path are unified.

12. The flexible electrode automatic implantation surgical system according to claim 9, characterized in that: The first linear motion stage, the second linear motion stage and the third linear motion stage are arranged orthogonally in pairs.

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