A flexible electrode automatic implantation surgical system

Abstract

The present invention provides a flexible electrode automatic implantation surgical system, belonging to the field of electrode implantation surgical systems, comprising an implantation robot, a flexible electrode fixing platform, an optoelectronic navigator, a first positioning marker, a second positioning marker, a third positioning marker, a cranial 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 marker is arranged on the cranial support plate, a second positioning marker is arranged on the implantation head at the end of the implantation robot, and a third positioning marker is arranged on the flexible electrode fixing platform, for unifying the position and posture information of the implantation robot, the flexible electrode fixing platform, and the cranial support plate into the optoelectronic navigator coordinate system; the optoelectronic navigator automatically adjusts the flexible electrode and cranial support plate to the working area of ​​the implantation robot. The present invention does not require human intervention and effectively improves the efficiency of implantation surgery.

Description

Technical Field

[0001] The present 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 implant needle picks up the electrode under the guidance of the microscopic visual light path and implants the electrode into the target point of the skull. When the existing flexible electrode implantation surgical system is working, the flexible electrode and the skull implantation area need to be manually adjusted to the field of view of the microscopic visual light path. The microscopic visual light path field of the implantation robot is small, and it takes a long time to manually adjust the flexible electrode and the skull implantation area to the field of view of the microscopic visual light path. The flexible electrode implantation surgical system is mainly composed of an implantation mechanism and a microscopic visual light 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 light path. In addition, due to the small field of view of the microscopic visual light path, it takes a long time to adjust the implantation needle to the field of view of the microscopic visual light 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 solutions:

[0005] A flexible electrode automatic implantation surgical system comprises an implantation robot, a flexible electrode fixing platform, a photoelectric navigator, a first positioning marker, a second positioning marker, a third positioning marker, 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 marker is arranged on the skull support plate, a second positioning marker is arranged on the implantation head at the end of the implantation robot, and a third positioning marker 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 photoelectric navigator coordinate system; the photoelectric navigator automatically adjusts the flexible electrode and the skull to the working area of ​​the implantation robot.

[0006] Furthermore, 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.

[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 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 operation area; the implantation head is used to precisely control the position of the implantation needle, so as to realize the picking up and implantation operation of the flexible electrode.

[0010] Furthermore, the flexible electrode fixing platform includes an N-type fixing frame, a first linear translation platform, a second linear translation platform, and a third linear translation 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 translation platform, the second linear translation platform, and the third linear translation 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, and the adsorption head is connected to the vacuum generating device pipeline to generate a vacuum adsorption force 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 platform is fixed to the fixed base, the second linear motion platform is fixed to the first linear motion platform, the L-shaped part is fixed to the second linear motion platform, the third linear motion platform 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 stage, two manual linear motion stages, which are installed on the fixed plate, and two manual angle swing stages, which are respectively fixed on the two manual linear motion stages; two microscopic vision lens fixing seats are respectively fixed on the two manual angle swing stages; 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 stages and the other two manual angle swing stages are used to adjust the centers of the two microscopic vision light paths to the tip of the implant needle; the two microscopic vision light paths are respectively formed by two industrial cameras and two microscopic vision lenses.

[0015] Furthermore, the implantation head is used for precise electrode pickup and implantation of the implantation needle under the guidance of microscopic images, and 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.

[0016] Furthermore, the first linear motion platform, the second linear motion platform, and the third linear motion platform 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. The implantation robot, the flexible electrode fixing platform and the skull support plate are all provided with positioning markers that can be automatically identified by the optoelectronic navigator. 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 surgical 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. The implant head comprises a three-dimensional linear motion slide (optical platform - x, y, z axes), an industrial camera, a microscope lens, a manual linear motion stage, a manual angular swing stage, a voice coil motor, a force sensor, an implant needle, and positioning markers. The implant needle is used for precise electrode pickup and implantation under microscopic image guidance. In the present invention, the relative position of the implant needle and the two microscopic optical paths is fixed, i.e., the position coordinates of the implant needle and the microscopic optical path are unified. After replacing the implant needle, there is no need to manually adjust the implant needle to the field of view of the microscopic 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 coordinate system of the implant needle and the microscopic visual optical path is the same. 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 This is 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 robotic arm 13, implant head 14, display 15, N-type fixed frame 16, first linear translation table 17, second linear translation table 18, third linear translation 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 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, fixed 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 objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate 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 may 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 marker 5, a second positioning marker 6, a third positioning marker 7, a skull 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 through a bracket. 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 surgical area of ​​the skull 4 to realize the automatic implantation surgery 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 brain support plate 8 is fixed to the slider of the second motion axis 10 by screws, and the spatial position of the brain 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 robotic 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 robotic arm 13 and display 15 are fixed to the mobile trolley 12 via screws, and the implant head 14 is also fixed to the end of the six-degree-of-freedom robotic arm 13 via screws. The six-degree-of-freedom robotic arm 13 is used to adjust the spatial position and posture of the implant head 14, allowing it to be easily adjusted to the implantation surgical area. The display 15 is used to run the application software of the implantation surgical robot 1, including image display, hardware control, and surgical operation control. The implant head 14 is used to precisely control the position of the implant needle, enabling the pickup and implantation of the flexible electrode.

[0033] The mobile trolley 12 is used to securely mount a display 15, a six-degree-of-freedom robotic arm 13, and an implant head 14, allowing the implant head 14 to be moved to the surgical area. The display 15 displays the application software interface of the implant robot 1. The six-degree-of-freedom robotic arm 13 has its base fixed to the mobile trolley 12, and the implant head 14 is fixed at its end, allowing it to adjust its position and posture over a wide 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 a brain support plate 8, which is driven by a first motion axis 9 and a second motion axis 10. The implant robot 1, the flexible electrode fixing platform 2, and the brain support plate 8 are respectively provided with a first positioning marker 5, a second positioning marker 6, and a third positioning marker 7. The three positioning markers 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 has a low degree of automation.

[0037] like Figure 4As shown, an N-shaped fixed frame 16 is fixed to the optical platform 11 via screws. A first linear motion stage 17 is mounted on the N-shaped fixed frame 16 via screws. A second linear motion stage 18 is mounted on the first linear motion stage 17 via screws. A third linear motion stage 19 is mounted on the second linear motion stage 18 via screws. The first, second, and third linear motion stages 17, 18, and 19 are arranged orthogonally in pairs, enabling three-dimensional spatial position adjustment. A first angular swing stage 20 is mounted on the third linear motion stage 19 via screws, and a second angular swing stage 21 is mounted on the first angular swing stage 20 via screws, enabling two-dimensional position adjustment of an object mounted on the second angular swing stage 21. A third positioning marker 7 is attached to the second angular swing stage 21, an adapter 22 is mounted on the second angular swing stage 21 via screws, and a suction head 23 is mounted on the adapter 22 via screws. The suction head 23 is connected to the vacuum generating device pipeline to generate a vacuum suction force to attract the flexible electrode arrangement 24. 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 surgery operation.

[0038] like Figure 3 As shown, the implant head 14 is used for precise electrode pickup and implantation of an implant needle 50 under microscopic image guidance. In the present invention, the relative position of the implant needle 50 and the two microscopic optical paths (composed of the first industrial camera 33, the second industrial camera 34, the first microscopic lens 35, and the second microscopic lens 36) is fixed. That is, the position coordinates of the implant needle 50 and the microscopic 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 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 secures the implant head 14 to the end of the six-degree-of-freedom robotic arm 13 via screws. A first linear motion stage 27 is secured to the fixed base 26 via screws. A second linear motion stage 28 is secured to the first linear motion stage 27 via screws. An L-shaped part 29 is secured to the second linear motion stage 28 via screws. A third linear motion stage 30 is secured to the L-shaped part 29 via screws. The first, second, and third linear motion stages 27, 28, and 30 are arranged orthogonally in pairs. A T-shaped part 31 is secured to the L-shaped part 29 via screws. A voice coil electrode 32 is secured to the T-shaped part 31 via screws. A U-shaped part 47 is secured to the axis of the voice coil electrode 32 via screws. A force sensor 46 is secured to the U-shaped part 47 via screws and is used to measure the insertion resistance of the implant needle 50 in real time. A needle holder 48 is secured to the U-shaped part 47 via screws. A needle fixing cover 49 secures the implant needle 50 to the needle holder 48 via 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 mounted on the fixing plate 37 by screws. The first manual angle swing stage 40 and the second manual angle swing stage 41 are respectively fixed to the first manual linear motion stage 38 and the second manual linear motion stage 39 by screws. The first microscopic vision lens fixing seat 42 and the second microscopic vision lens fixing seat 43 are respectively fixed to the first manual angle swing stage 40 and the second manual angle swing stage 41 by screws. The first microscopic vision lens fixing cover 44 and the second microscopic vision lens fixing cover respectively fix the first microscopic vision lens 35 and the second microscopic vision lens 36 to the first microscopic vision lens fixing seat 42 and the second microscopic vision lens fixing seat 43 by screws. The first industrial camera 33 and the second industrial camera 34 are respectively mounted to the first microscopic vision lens 35 and the second microscopic vision 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 optical path is first installed, 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 optical paths.

[0042] In the present invention, the relative positional relationship between the implant needle 50 and the left and right microscopic optical paths remains unchanged, eliminating the need to recalibrate the relative relationship between the implant needle and the microscopic optical path after replacing the implant needle 50. A first positioning marker 5 is placed on the skull support plate 8 and is fixed relative to the skull 4. The photoelectric navigator 3 automatically identifies the coordinates of the first positioning marker 5 to determine the relative position and posture deviation of the skull 4. Because the initial position and posture of the second positioning marker 6 and the implant needle 50 are fixed, the posture of the implant needle 50 and the position of the implant 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 is 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; 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, so as to achieve two-dimensional posture adjustment of the object mounted on the second angle swing platform; 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, and the adsorption head is connected to the vacuum generating device pipeline to generate a vacuum adsorption force to adsorb the flexible electrode arrangement member, and the flexible electrode is pasted on the flexible electrode arrangement member.

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 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 implant head and adjust the implant head to the implantation surgical area; the implant head is used to precisely control the position of the implant needle to realize the picking up and implantation surgical 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 translation platform, a second linear translation platform, and a third linear translation 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 to 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 translation platform, the second linear translation platform, and the third linear translation platform are arranged orthogonally in pairs to achieve three-dimensional spatial position adjustment.

7. 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 the six-degree-of-freedom robotic arm, the first linear motion platform is fixed to the fixed base, the second linear motion platform is fixed to the first linear motion platform, the L-shaped part is fixed to the second linear motion platform, the third linear motion platform 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.

8. The flexible electrode automatic implantation surgical system according to claim 7, characterized in that: The implant head also includes a fixed plate, which is fixed to the third linear motion stage, two manual linear motion stages are mounted on the fixed plate, and two manual angle swing stages are respectively fixed to the two manual linear motion stages; two microscopic vision lens fixing seats are respectively fixed to the two manual angle swing stages; two microscopic vision lenses are respectively fixed to the two microscopic vision lens fixing seats, and two industrial cameras are respectively mounted on the two microscopic vision lenses; Two manual linear motion stages and another two manual angle swing stages are used to adjust the centers of two microscopic visual light paths to the tips of the implant needles; the two microscopic visual light paths are formed by two industrial cameras and two microscopic visual lenses respectively.

9. The flexible electrode automatic implantation surgical system according to claim 8, characterized in that: The implantation head is used for accurately picking up electrodes and implanting the implantation needle under the guidance of a microscopic image. 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.

10. The flexible electrode automatic implantation surgical system according to claim 7, characterized in that: The first linear motion platform, the second linear motion platform, and the third linear motion platform are arranged orthogonally in pairs.

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