Parallel robot for implanting pre-bent electrode of artificial cochlea

Abstract

The invention discloses a parallel robot for implanting a pre-bent electrode of an artificial cochlea, and relates to the technical field of parallel robots, the parallel robot comprises a robot body, an implanting mechanism is mounted on the robot body, the implanting mechanism comprises a cylinder, a mounting plate, a winding roller, a gear, a convex tooth rod and a first spring, the cylinder is fixed on the robot body, and the mounting plate is fixed on the mounting plate. A mounting plate is fixed to the output end of the air cylinder. According to the parallel robot for implanting the pre-bent electrode of the artificial cochlea, an elastic implanting mechanism is adopted, during actual implanting operation, an installing plate and a movable plate are driven by an air cylinder to move, so that implanting operation of an electrode body can be achieved, and when the electrode body reaches the preset implanting length, the electrode body is fixed through cooperation with the effect of a first spring; the distance between the mounting plate and the movable plate is shortened by rotating the rotating shaft, and the winding roller can rotate to wind the guide wire under the action of a convex toothed bar and a gear, so that the electrode body can be automatically separated from the guide wire after the electrode body is implanted.

Description

Technical Field

[0001] The invention relates to the technical field of parallel robots, in particular to a parallel robot used for implanting pre-bent electrodes for cochlea implants. Background Art

[0002] A cochlear implant is an electronic device that uses an external speech processor to convert sound into coded electrical signals, and restores hearing function by directly stimulating the auditory nerve. It is divided into two parts: an external device and an implantable device. The implantable device includes an electrode series and a receiving stimulation device to complete the conversion of sound into electrical signals. It is different from a hearing aid, which fully amplifies the external signal and transmits it into the ear canal of the hearing-impaired patient, and then transmits it to the inner ear auditory receptor through the middle ear, so that the hearing-impaired patient can hear the amplified sound. The cochlear implant can bypass the damaged inner wall of the cochlea by directly implanting the implantable device into the cochlea, directly stimulating the auditory nerve and allowing the patient to regain hearing. Therefore, hearing aids are suitable for patients with mild to severe hearing loss, while cochlear implants are suitable for patients with extremely severe hearing loss. When implanting a pre-bent electrode for a cochlear implant, in order to ensure the normal implantation of the electrode, a metal guide wire is arranged inside the electrode to support the electrode, so as to facilitate the implantation of the pre-bent electrode. After the implantation is completed, the metal guide wire needs to be extracted. The existing cochlear implant robot cannot realize the automatic extraction of the metal guide wire during actual use. Therefore, in view of the above problem, a parallel robot for implanting pre-bent electrodes for cochlear implants is designed to better meet the actual use needs. Summary of the invention

[0003] The object of the present invention is to provide a parallel robot for implanting pre-bent electrodes for cochlear implants, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A parallel robot for implanting a pre-bent electrode for a cochlear implant comprises a robot body, an implantation mechanism is installed on the robot body, the implantation mechanism comprises a cylinder, a mounting plate, a winding roller, a gear, a convex tooth rod and a first spring, the cylinder is fixed on the robot body, a mounting plate is fixed on the output end of the cylinder, a limiting mechanism is installed on the mounting plate, a bearing on the mounting plate is connected to a winding roller, gears are fixed on the winding roller symmetrically, the gears and the convex tooth rod are meshed, the convex tooth rod is fixed on a movable plate, one end of the first spring is fixed on the mounting plate, the other end of the first spring is fixed on the movable plate, one end of a guide wire is fixed on the winding roller, the guide wire and the electrode body are slidably connected, the extension of the cylinder can drive the guide wire and the electrode body to move, so as to realize the implantation of the electrode body, when the implantation is completed, the mounting plate moves relative to the movable plate, the transmission action of the gear and the convex tooth rod is cooperated, so that the winding roller rotates to wind up the guide wire, thereby realizing the automatic separation of the guide wire and the electrode body.

[0005] Preferably, the robot body includes a top plate, a motor, a rocker arm, a connecting rod and a movable table. Three groups of motors are fixed at equal angles on the top plate, and a rocker arm is fixed to the output end of the motor. Through the action of the motor, a basic force can be provided for the swing of the rocker arm. Through the swinging action of multiple groups of rocker arms, a basic guarantee can be provided for the normal operation of the robot body.

[0006] Preferably, one end of a connecting rod is rotatably connected to the rocker arm, and the other end of the connecting rod is rotatably connected to the movable table, and a cylinder is fixed on the movable table. When the rocker arm swings, the position of the movable table can be adjusted through the transmission action of the connecting rod, thereby achieving the position adjustment of the implantation mechanism to facilitate the implantation operation.

[0007] Preferably, a positioning mechanism is arranged directly below the movable table, and the positioning mechanism includes a positioning plate, a first threaded rod and a scale rod. The positioning plate and the electrode body are slidably connected, and the positioning plate and the movable plate are distributed in parallel. A first threaded rod is connected to a bearing on the positioning plate, and the first threaded rod is connected to the movable table through a thread. Through the action of the first threaded rod, the distance between the positioning plate and the movable plate can be adjusted, thereby adjusting the implantation length of the electrode body, so as to achieve precise implantation of the electrode body.

[0008] Preferably, a scale rod is vertically fixed on the positioning plate, and the scale rod and the movable table are slidably connected. When the distance between the positioning plate and the movable plate is adjusted, the stability of the movement of the positioning plate can be ensured by the sliding guiding effect between the scale rod and the movable table, and the distance between the positioning plate and the movable plate can be accurately determined by the scale on the scale rod, thereby accurately controlling the implantation length of the electrode body.

[0009] Preferably, the winding length of the guide wire by the winding roller is greater than the length of the electrode body, and the guide wire and the electrode body can be automatically separated by the function of the winding roller.

[0010] Preferably, the convex gear rod is slidably connected to the mounting plate, and is slidably connected to the movable platform, and the convex gear rod is symmetrically distributed about the center line of the movable plate. The normal operation of the device can be guaranteed through the sliding guiding action between the convex gear rod and the mounting plate and the movable platform.

[0011] Preferably, the movable plate is connected to the second threaded rod through a thread, and the second threaded rod bearing is connected to the clamping plate, and the clamping plate and the movable plate are slidably connected, and the clamping plate and the movable plate cooperate to achieve clamping and fixing of the electrode body. Through the action of the second threaded rod, the distance between the clamping plate and the movable plate can be adjusted to achieve the clamping and fixing effect of the electrode body.

[0012] Preferably, the limiting mechanism includes a movable frame, a limiting rod and a second spring. The movable frame is arranged above the mounting plate, and the limiting rod is symmetrically fixed on the movable frame, and the limiting rod and the mounting plate are slidingly connected, and the limiting rod and the convex tooth rod are snap-fittingly connected. The sliding guiding action between the limiting rod and the mounting plate can ensure the stability of the movement of the movable frame, and the snap-fit ​​action between the limiting rod and the convex tooth rod can achieve the positioning of the convex tooth rod, thereby ensuring the stability of the winding roller after winding the guide wire.

[0013] Preferably, one end of a second spring is fixed on the movable frame, and the other end of the second spring is fixed on the mounting plate. The elastic action of the second spring can provide a basic force for the automatic reset of the movable frame and the limit rod, thereby ensuring the normal operation of the device.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The parallel robot for implanting pre-bent electrodes for cochlear implants adopts an elastic implantation mechanism. During the actual implantation operation, the electrode body can be implanted by driving the mounting plate and the movable plate to move through the cylinder. When the electrode body reaches the preset implantation length, the distance between the mounting plate and the movable plate is reduced with the action of the first spring. The winding roller can be rotated to wind up the guide wire with the action of the convex tooth rod and the gear. Thus, the electrode body and the guide wire can be automatically separated after the electrode body is implanted, without manual separation, thereby better meeting the actual use requirements. 2. The parallel robot used for implanting pre-bent electrodes for cochlear implants can adjust the distance between the positioning plate and the movable plate through the first threaded rod during the implantation operation, thereby determining the implantation length of the electrode body and ensuring the accuracy of the electrode body implantation. With the help of the limit rod and the second spring, the convex tooth rod can be locked after the electrode body is implanted to avoid the reverse rotation of the winding roller when the device is reset, thereby ensuring the stability of the guide wire after winding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention; Figure 2 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention when viewed from above; Figure 3 It is a schematic diagram of the front view of the three-dimensional structure of the positioning mechanism of the present invention; Figure 4 It is a schematic diagram of the front view of the three-dimensional structure of the implantation mechanism and the movable plate of the present invention; Figure 5 It is a bottom-up three-dimensional structural schematic diagram of the implantation mechanism and the movable plate of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the limiting mechanism of the present invention; Figure 7 For the present invention Figure 6 Enlarged structural diagram at A in the middle.

[0016] In the figure: 1. robot body; 101. top plate; 102. motor; 103. rocker arm; 104. connecting rod; 105. movable table; 2. positioning mechanism; 201. positioning plate; 202. first threaded rod; 203. scale rod; 3. implantation mechanism; 301. cylinder; 302. mounting plate; 303. winding roller; 304. gear; 305. convex tooth rod; 306. first spring; 4. movable plate; 401. second threaded rod; 402. clamping plate; 5. limiting mechanism; 501. movable frame; 502. limiting rod; 503. second spring; 6. electrode body; 7. guide wire. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-Figure 7The present invention provides a technical solution: a parallel robot for implanting a pre-bent electrode for a cochlear implant, comprising a robot body 1, an implantation mechanism 3 is installed on the robot body 1, the implantation mechanism 3 comprises a cylinder 301, a mounting plate 302, a winding roller 303, a gear 304, a convex gear rod 305 and a first spring 306, the cylinder 301 is fixed on the robot body 1, a mounting plate 302 is fixed on the output end of the cylinder 301, a limiting mechanism 5 is installed on the mounting plate 302, a winding roller 303 is connected to a bearing on the mounting plate 302, a gear 304 is fixed on the winding roller 303 symmetrically, and the gear 304 and the convex gear rod 305 are meshed. Then, the convex tooth rod 305 is fixed on the movable plate 4, one end of the first spring 306 is fixed on the mounting plate 302, the other end of the first spring 306 is fixed on the movable plate 4, one end of the guide wire 7 is fixed on the winding roller 303, the guide wire 7 and the electrode body 6 are in sliding connection, the extension of the cylinder 301 can drive the guide wire 7 and the electrode body 6 to move, so as to realize the implantation of the electrode body 6. When the implantation is completed, when the mounting plate 302 moves relative to the movable plate 4, the transmission action of the gear 304 and the convex tooth rod 305 is cooperated, so that the winding roller 303 rotates to reel the guide wire 7, thereby realizing the automatic separation of the guide wire 7 and the electrode body 6.

[0019] A positioning mechanism 2 is arranged directly below the movable table 105, and the positioning mechanism 2 includes a positioning plate 201, a first threaded rod 202 and a scale rod 203. The positioning plate 201 is slidably connected to the electrode body 6, and the positioning plate 201 and the movable plate 4 are parallelly distributed, and the first threaded rod 202 is connected to the bearing on the positioning plate 201, and the first threaded rod 202 is connected to the movable table 105 through a thread; the scale rod 203 is vertically fixed on the positioning plate 201, and the scale rod 203 is slidably connected to the movable table 105; the movable plate 4 is connected to the second threaded rod 401 through a thread, and the second threaded rod 401 is connected to the clamping plate 402 through a bearing, and the clamping plate 402 and the movable plate 4 are slidably connected, and at the same time, the clamping plate 402 cooperates with the movable plate 4 to clamp and fix the electrode body 6; When using the parallel robot for implanting pre-bent electrodes for cochlear implants, Figure 1-Figure 7As shown, the robot body 1 is first installed on an external driving device (such as a hydraulic rod, etc.), and the distance between the positioning plate 201 and the movable plate 4 is adjusted according to the implantation length of the electrode body 6. By rotating the first threaded rod 202 and cooperating with the threaded connection between the first threaded rod 202 and the movable platform 105, the positioning plate 201 can be moved by force. The sliding guide effect between the scale rod 203 and the movable platform 105 can ensure the stability of the movement of the positioning plate 201, thereby realizing the distance adjustment between the positioning plate 201 and the movable plate 4. The scale line on the scale rod 203 can accurately determine the distance between the positioning plate 201 and the movable plate 4. The distance between the clamp plate 402 and the movable plate 4 can be determined, so as to determine the implantation length of the electrode body 6. Then, the electrode body 6 with the guide wire 7 is placed between the clamp plate 402 and the movable plate 4, and the lower end surface of the electrode body 6 is 1mm-2mm away from the lower end surface of the movable plate 4. Then, the second threaded rod 401 is rotated to adjust the position of the clamp plate 402. With the sliding effect between the clamp plate 402 and the movable plate 4, the stability of the movement of the clamp plate 402 can be ensured, until the clamp plate 402, the movable plate 4 and the electrode body 6 are in contact with each other to achieve the clamping and fixing of the electrode body 6. Finally, the upper end of the guide wire 7 is fixed to the winding roller 303 by screws to complete the accurate work. The winding length of the guide wire 7 by the winding roller 303 is greater than the length of the electrode body 6; the convex gear rod 305 is slidably connected to the mounting plate 302, and the convex gear rod 305 is also slidably connected to the movable platform 105, and the convex gear rod 305 is symmetrically distributed about the center line of the movable plate 4; the robot body 1 includes a top plate 101, a motor 102, a swing rod 103, a connecting rod 104 and a movable platform 105, three groups of motors 102 are fixed at equal angles on the top plate 101, and the output end of the motor 102 is fixed with a swing rod 103; one end of the connecting rod 104 is rotatably connected to the swing rod 103, and the connecting rod 104 is connected to the movable platform 105. The other end of the connecting rod 104 is rotatably connected to the movable platform 105, and the cylinder 301 is fixed on the movable platform 105; the limiting mechanism 5 includes a movable frame 501, a limiting rod 502 and a second spring 503, the movable frame 501 is arranged above the mounting plate 302, and the limiting rod 502 is fixed symmetrically on the movable frame 501, and the limiting rod 502 is slidably connected to the mounting plate 302, and the limiting rod 502 is engaged with the convex tooth rod 305; one end of the second spring 503 is fixed on the movable frame 501, and the other end of the second spring 503 is fixed on the mounting plate 302; When the electrode body 6 is implanted, Figure 1-Figure 7As shown, firstly, by controlling the multiple motors 102 to start, the swing rod 103 can be driven to rotate, and the transmission effect of the connecting rod 104 can be used to adjust the position of the movable platform 105, the implantation mechanism 3, the electrode body 6 and the guide wire 7, and then the height of the entire device is adjusted by the external drive device until the movable plate 4 contacts the patient's head to achieve positioning, ensuring that the electrode body 6 and the guide wire 7 are accurately matched with the patient's ear canal, and then the cylinder 301 is controlled to extend, thereby driving the mounting plate 302, the movable plate 4, the electrode body 6 and the guide wire 7 to move, so that the electrode body 6 and the guide wire 7 enter the patient's ear canal to achieve the implantation of the electrode body 6, until The movable plate 4 is in contact with the positioning plate 201 to achieve positioning, thereby accurately controlling the length of the electrode body 6 entering the patient's ear canal, and then completing the implantation operation of the electrode body 6. After the electrode body 6 is implanted, the cylinder 301 continues to extend. Since the positions of the movable plate 4 and the positioning plate 201 are both limited, the continued extension of the cylinder 301 causes the mounting plate 302 to move relative to the movable plate 4, and the sliding action between the convex tooth rod 305 and the mounting plate 302 can ensure the stability of the movement of the mounting plate 302. When the mounting plate 302 moves relative to the movable plate 4, the meshing transmission action between the gear 304 and the convex tooth rod 305 is cooperated , so that the winding roller 303 is forced to rotate, and the winding effect of the guide wire 7 can be achieved through the rotation of the winding roller 303, until the guide wire 7 is completely separated from the electrode body 6, and the cylinder 301 stops working, thereby realizing the automatic separation effect of the guide wire 7 and the electrode body 6. When the convex tooth rod 305 slides upward relative to the mounting plate 302, the elastic effect of the second spring 503 is cooperated, so that the convex tooth rod 305 and the limiting rod 502 can also slide, ensuring the normal operation of the device. When the guide wire 7 is completely separated from the electrode body 6, the elastic effect of the second spring 503 is used to make the convex tooth rod 305 engage with the limiting rod 502 for limiting. , thereby completing the implantation operation of the electrode body 6, and finally, by rotating the second threaded rod 401 to move the clamping plate 402, the electrode body 6 can be unlocked, and then the cylinder 301 can be controlled to contract to achieve the reset of the device. At this time, due to the engagement of the convex tooth rod 305 and the limit rod 502, the winding roller 303 will not rotate in the opposite direction to release the guide wire 7 when the cylinder 301 contracts and resets, thereby ensuring the stability of the guide wire 7. Subsequently, the movable frame 501 is manually pulled to separate the convex tooth rod 305 and the limit rod 502 to release the lock, so that the guide wire 7 can be removed. This is the working principle of the parallel robot used for the implantation of pre-bent electrodes for cochlear implants.

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A parallel robot for implanting pre-bent electrodes for cochlear implants, comprising a robot body (1), characterized in that: The robot body (1) is provided with an implantation mechanism (3), the implantation mechanism (3) comprising a cylinder (301), a mounting plate (302), a winding roller (303), a gear (304), a convex gear rod (305) and a first spring (306), the cylinder (301) being fixed on the robot body (1), the output end of the cylinder (301) being fixed with a mounting plate (302), the mounting plate (302) being provided with a limit mechanism (5), the winding roller (303) being connected to a bearing on the mounting plate (302), the winding roller (303) being symmetrically fixed with a gear (304), the gear (304) being meshingly connected with the convex gear rod (305), the convex gear rod (305) being fixed to the movable plate (4 ), one end of a first spring (306) is fixed on the mounting plate (302), the other end of the first spring (306) is fixed on the movable plate (4), one end of a guide wire (7) is fixed on the winding roller (303), the guide wire (7) and the electrode body (6) are in sliding connection, and the extension of the cylinder (301) can drive the guide wire (7) and the electrode body (6) to move, thereby realizing the implantation of the electrode body (6). When the implantation is completed, when the mounting plate (302) moves relative to the movable plate (4), the transmission action of the gear (304) and the convex tooth rod (305) is cooperated, so that the winding roller (303) rotates to reel up the guide wire (7), thereby realizing the automatic separation of the guide wire (7) and the electrode body (6).

2. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 1, characterized in that: The robot body (1) comprises a top plate (101), a motor (102), a swing rod (103), a connecting rod (104) and a movable platform (105); three groups of motors (102) are fixed at equal angles on the top plate (101), and a swing rod (103) is fixed to the output end of the motor (102).

3. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 2, characterized in that: One end of a connecting rod (104) is rotatably connected to the swing rod (103), and the other end of the connecting rod (104) is rotatably connected to a movable platform (105), and a cylinder (301) is fixed to the movable platform (105).

4. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 3, characterized in that: A positioning mechanism (2) is arranged directly below the movable platform (105), and the positioning mechanism (2) comprises a positioning plate (201), a first threaded rod (202) and a scale rod (203); the positioning plate (201) and the electrode body (6) are slidably connected, the positioning plate (201) and the movable plate (4) are arranged in parallel, the first threaded rod (202) is connected to a bearing on the positioning plate (201), and the first threaded rod (202) is connected to the movable platform (105) via a thread.

5. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 4, characterized in that: A scale rod (203) is vertically fixed on the positioning plate (201), and the scale rod (203) is slidably connected to the movable platform (105).

6. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 2, characterized in that: The winding length of the guide wire (7) wound by the winding roller (303) is greater than the length of the electrode body (6).

7. A parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 2, characterized in that: The convex gear rod (305) is slidably connected to the mounting plate (302), and the convex gear rod (305) is slidably connected to the movable platform (105), and the convex gear rod (305) is symmetrically distributed about the center line of the movable plate (4).

8. The parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 1, characterized in that: The movable plate (4) is connected to the second threaded rod (401) via a thread, and the second threaded rod (401) is connected to the clamping plate (402) via a bearing, and the clamping plate (402) and the movable plate (4) are slidably connected, and the clamping plate (402) and the movable plate (4) cooperate to clamp and fix the electrode body (6).

9. The parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 1, characterized in that: The limiting mechanism (5) comprises a movable frame (501), a limiting rod (502) and a second spring (503); the movable frame (501) is arranged above the mounting plate (302); the limiting rod (502) is fixed symmetrically on the movable frame (501); the limiting rod (502) and the mounting plate (302) are slidably connected; and the limiting rod (502) and the convex tooth rod (305) are snap-fitted.

10. The parallel robot for implanting pre-bent electrodes for cochlear implants according to claim 9, characterized in that: One end of a second spring (503) is fixed on the movable frame (501), and the other end of the second spring (503) is fixed on the mounting plate (302).

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