DBS electrode implantation adapter, DBS electrode implantation assembly and robot system

Abstract

The invention provides a DBS electrode implantation adapter, a DBS electrode implantation assembly and a robot system. The adapter comprises a main body, an embedded part and a mounting part arranged on the main body, wherein the main body is connected with the embedded part; the embedding part is embedded into a guide channel of a mechanical arm adapter flange during use; the adapter is provided with a guide hole penetrating through the main body and the embedding part and is used for providing a channel for directional setting of the trocar; the mounting part is used for being matched with the mounting of a stepper, and the stepper is used for controlling the implantation depth of an electrode. By designing the special adapter, the mounting range is expanded, and the adapter not only can guide the implantation direction of the electrode, but also can be provided with the stepper so as to accurately control the implantation depth of the electrode; moreover, the adapter is an integrated part, and the stepper and the mechanical arm adapter flange are connected through one part (adapter), so that additional errors caused by matching of a plurality of parts are reduced, and the angle precision of the electrode is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a DBS electrode implantation adapter, a component and a robot system. Background Art

[0002] Deep Brain Stimulation (abbreviated as DBS) is a minimally invasive neurosurgical method that uses stereotactic technology to implant stimulating electrodes at specific target points in the brain for electrical stimulation, so as to regulate the excitability of corresponding nuclei to achieve the therapeutic purpose. It can be used to treat movement disorders, such as Parkinson's disease, essential tremor, dystonia, etc.

[0003] The implantation direction and depth of the electrode are the key to the surgery. At present, there are two ways to assist the implantation of DBS electrodes:

[0004] Method 1: Install a stereotactic head frame on the patient's head, collect medical images of the patient's head and the head frame for patient registration, then adjust the orientation bow so that the guiding channel reaches the electrode implantation direction, and calculate the depth based on the head frame coordinate system, and manually adjust the depth of the electrode. The defect of this method is that it is necessary to drill holes in the head to install a heavy head frame and collect medical images, the operation process is cumbersome, and the accuracy of manually adjusting the orientation bow and the electrode depth is low.

[0005] Method 2: Use a surgical robot to guide the electrode implantation. After the patient registration is completed, the surgical robot controls the guiding channel to reach the electrode implantation direction to guide the electrode, and then manually adjusts the implantation depth of the electrode. At present, the robot-guided electrode implantation can only provide guidance for the electrode implantation direction, and cannot accurately adjust the implantation depth of the electrode, and the angle accuracy has not reached the ideal standard.

[0006] In view of the defects in the prior art that the operation process of DBS electrode implantation is cumbersome and the accuracy of electrode implantation (especially the implantation depth) is low, the present invention provides a DBS electrode implantation adapter, a component and a robot system. Summary of the Invention

[0007] The present invention provides a DBS electrode implantation adapter, a component and a robot system to solve or at least partially solve the above technical problems.

[0008] The present invention provides a DBS electrode implantation adapter, including: a main body, an embedding part and a mounting part provided on the main body, and the main body is connected to the embedding part;

[0009] The embedding part is embedded in the guiding channel of the robotic arm adapter flange during use;

[0010] The adapter is provided with a guiding hole penetrating through the main body and the embedding part, which is used to provide a channel for the orientation setting of the trocar.

[0011] The mounting part is used to adapt to the installation of the stepper, and the stepper is used to control the implantation depth of the electrode.

[0012] According to a DBS electrode implantation adapter provided by the present invention, the embedding part is provided with at least one locking hole. After the embedding part is embedded into the guiding channel, a fastener passes through a clamping hole arranged on the side wall of the guiding channel and reaches the locking hole, so as to fix the relative position of the embedding part and the adapter flange.

[0013] According to a DBS electrode implantation adapter provided by the present invention, the main body is provided with at least one threaded hole communicated with the guiding hole, and a screw applies pressure to the trocar through the threaded hole to fix the relative position of the trocar and the guiding hole.

[0014] According to a DBS electrode implantation adapter provided by the present invention, the axial direction of the threaded hole is perpendicular to the axial direction of the guiding hole.

[0015] According to a DBS electrode implantation adapter provided by the present invention, two threaded holes with perpendicular axial directions are provided.

[0016] According to a DBS electrode implantation adapter provided by the present invention, the main body is provided with a weight-reducing hole or a weight-reducing groove.

[0017] According to a DBS electrode implantation adapter provided by the present invention, the mounting part includes at least two mounting structures arranged on the main body;

[0018] The mounting structure enables the direction of the electrode driven by the stepper to be the same as the direction of the guiding hole in the installation state.

[0019] According to a DBS electrode implantation adapter provided by the present invention, the mounting structure is any one of the following: a fixing pin, a plug hole, a stud, a threaded hole, and a clamping groove.

[0020] The present invention also provides a DBS electrode implantation guiding assembly, including: an adapter flange, a DBS electrode implantation adapter according to any one of the foregoing items, a trocar, and a stepper;

[0021] The adapter flange is connected to the end of the robotic arm during use, and the adapter flange is provided with a guiding channel matching the embedding part;

[0022] The DBS electrode implantation adapter is installed into the guiding channel through the embedding part, and the trocar passes through the guiding hole of the DBS electrode implantation adapter;

[0023] The trocar includes an outer tube and an inner core;

[0024] The stepper is mounted on the mounting portion of the DBS electrode implantation adapter for controlling the implantation depth of the electrode.

[0025] A DBS electrode implantation assembly according to the present invention further includes at least two first fasteners for connecting the adapter flange to the end of the robotic arm.

[0026] A DBS electrode implantation assembly according to the present invention further includes at least one second fastener. A clamping hole is provided on the side wall of the guiding channel. The second fastener is used to fix the DBS electrode implantation adapter through the clamping hole after the DBS electrode implantation adapter and the guiding channel are combined in the expected manner.

[0027] In a DBS electrode implantation assembly according to the present invention, the guiding hole and the trocar are in clearance fit.

[0028] The present invention also provides a DBS electrode implantation robot system, including a host computer, a robotic arm, an input / output device, and the DBS electrode implantation guiding assembly according to any one of the foregoing items. A processor and a memory are provided in the host computer.

[0029] In a DBS electrode implantation robot system according to the present invention, the end of the robotic arm is connected to the DBS electrode implantation guiding assembly through an adapter flange. A computer program is stored in the memory. The processor can control the end of the robotic arm to reach the target position by executing the computer program.

[0030] A DBS electrode implantation adapter, assembly, and robot system provided by the present invention have at least the following beneficial effects:

[0031] 1. The adapter can not only guide the implantation direction of the electrode, but also be used to install the stepper to accurately control the implantation depth of the electrode, thereby improving the overall accuracy of electrode implantation; the stepper is mounted on the adapter, eliminating the need to separately set the position of the stepper, reducing the error caused by different positioning systems (electrode direction guidance, electrode depth guidance).

[0032] 2. The adapter is integrally formed, and the stepper and the robotic arm adapter flange are connected through a single part (the adapter), reducing the additional error introduced by the cooperation between multiple parts, resulting in a smaller radial position deviation of the electrode (i.e., higher angular accuracy of the implanted electrode);

[0033] 3. The locking hole is provided on the embedding portion, which can lock the position after being installed in the guiding channel, fix the relative position, and ensure the accuracy of electrode implantation;

[0034] 4. The main body is provided with a threaded hole communicating with the guiding hole, which is used to cooperate with a screw to lock the position of the trocar after the trocar penetrates to the target position, so as to provide a stable electrode channel, prevent accidental loosening, and improve the accuracy of electrode implantation;

[0035] 5. The main body is provided with weight-reducing holes or weight-reducing grooves, which reduce the weight of the part, reduce the load of the robotic arm, and help improve the accuracy of electrode implantation. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 is one of the structural schematic diagrams of the DBS electrode implantation adapter provided by the present invention;

[0038] Figure 2 is the second structural schematic diagram of the DBS electrode implantation adapter provided by the present invention;

[0039] Figure 3 is the second structural schematic diagram of the DBS electrode implantation adapter provided by the present invention;

[0040] Figure 4 is a partial structural schematic diagram of the DBS electrode implantation assembly provided by the present invention;

[0041] Figure 5 is the structural schematic diagram of the adapter flange in the DBS electrode implantation assembly provided by the present invention. Detailed Embodiments

[0042] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention fall within the scope of protection of the present invention.

[0043] The following will describe the DBS electrode implantation adapter, assembly, and robotic system of the present invention in conjunction with Figures 1 - 5 description.

[0044] Figure 1 is one of the structural schematic diagrams of the DBS electrode implantation adapter provided by the present invention, as shown in Figure 1As shown in the figure, the DBS electrode implantation adapter includes: a main body 11, an embedding part 12, and a mounting part 13 provided on the main body 11. The embedding part 12 is embedded in the guiding channel of the robotic arm adapter flange during use. The guiding channel provided by the robotic arm adapter flange can provide positioning guidance for various surgical operations such as skull drilling, bone nail implantation, electrode implantation, puncture needle implantation, biopsy needle implantation, etc. The guiding channel here is just a general channel, and an adapter needs to be installed in the guiding channel to adapt to operating tools of different diameters. The adapter of this solution is precisely positioned by installing it into the guiding channel through the embedding part 12.

[0045] The DBS electrode implantation adapter (hereinafter referred to as the adapter) is also provided with a guiding hole 14 penetrating through the main body 11 and the embedding part 12, which is used to provide a channel for the directional setting of the trocar. Since the electrode material is relatively soft, directly passing the electrode through the guiding hole 14 to guide the electrode implantation may cause the electrode to bend in the brain tissue, resulting in the deviation of the electrode discharge end from the target point. Therefore, the trocar is used to perform tissue puncture under the guidance of the guiding hole 14, and the trocar provides an accurate and stable (extracranial and intracranial) electrode channel.

[0046] The adapter is also provided with a mounting part 13, and the mounting part 13 is adapted to the mounting structure of the stepper, which facilitates the accurate and stable mounting of the stepper to the adapter. The stepper is a precise displacement control device. After the electrode penetrates into the trocar, by connecting the rear end (non-implantation end) of the electrode through the stepper, the implantation depth of the electrode can be accurately controlled. It can be understood that Figure 1 only the state where the mounting part 13 is provided on the top of the main body 11 is shown, and the position of the mounting part 13 on the main body 11 can be flexibly adjusted. For example, it can also be provided at the bottom, side, etc. of the main body 11, as long as the mounting part 13 is adapted to the stepper, which is convenient for the stepper to control the implantation depth of the electrode.

[0047] Generally, the adapter flange at the end of the robotic arm is a standard part, and the guiding channel of the adapter flange is relatively small (for example, 1 - 4 cm), and the nearby space position is relatively limited. The adapter is only used to be installed into the guiding channel to provide a specific diameter of the hole for the corresponding medical instruments to pass through (for example, for the drill bit, electrode to pass through). By designing a special adapter, the present invention expands the installation range by using the main body 11 connecting the embedding part and the mounting part 13 on the main body 11. The adapter can not only guide the implantation direction of the electrode, but also install the stepper to accurately control the implantation depth of the electrode; moreover, the main body 11, the embedding part 12, and the mounting part 13 are integral parts, and the stepper and the robotic arm adapter flange are connected through only one part (the adapter), reducing the additional errors introduced by the cooperation between multiple parts, with a smaller radial position deviation of the electrode and improving the angular accuracy of the implanted electrode.

[0048] Based on any one of the embodiments, the embedding part 12 is provided with at least one locking hole 121, which is used for, after the embedding part is embedded into the guiding channel, a fastener passing through a clamping hole provided on the side wall of the guiding channel to reach the locking hole 121, so as to fix the relative position of the embedding part 12 and the adapter flange.

[0049] Specifically, still referring to Figure 1 , the embedding part 12 is provided with at least one locking hole 121, and the side wall of the guiding channel of the adapter flange is provided with a clamping hole corresponding to the locking hole 121. After the embedding part 12 is installed into the guiding channel of the adapter flange, a fastener passes through the clamping hole to reach the locking hole 121, so as to fix the relative position of the embedding part 12 and the adapter flange. The locking hole 121 can be a through hole, a blind hole or a threaded hole, and the clamping hole on the adapter flange can be a through hole or a threaded hole. It can be understood that when the locking hole 12 or the clamping hole has a thread, the fastener needs to be provided with a matching threaded section.

[0050] Referring to Figures 1 - 2 , based on any one of the embodiments, the main body 11 is provided with at least one threaded hole 111 communicating with the guiding hole 14, and the number can be one, two or more. The threaded hole 111 can be used in cooperation with a screw 112. When the screw 112 is installed into the threaded hole 111, it can apply pressure to the electrode sleeve, so as to fix the relative position of the trocar and the guiding hole 14, so as to provide a stable deep brain electrode implantation channel through the trocar and ensure the accuracy of electrode implantation.

[0051] Still referring to Figure 2 , based on the previous embodiment, the axial direction of the threaded hole 111 provided on the main body 11 is perpendicular to the axial direction of the guiding hole 14, so that the screw 112 can provide a positive pressure for the trocar, improve the locking effect and prevent the trocar from sliding in the guiding hole 14.

[0052] Still referring to Figure 2 , based on the previous embodiment, the main body 11 is provided with two threaded holes 111, and the axial directions of the two threaded holes 111 are perpendicular to each other, that is to say, the axial directions of the two threaded holes 111 and the axial direction of the guiding hole 14 are perpendicular to each other in pairs. This structure can further improve the fastening effect of the screw 112 on the trocar.

[0053] Referring to Figure 3 , based on any one of the above embodiments, the main body 11 is provided with a weight-reducing hole or a weight-reducing groove 15 to reduce the weight of the adapter and the load of the robotic arm, thereby improving the accuracy of electrode implantation. The position of the weight-reducing hole or the weight-reducing groove 15 can be set flexibly. For example, it can be set at the bottom of the main body 11, or for another example, it can be set on the side of the main body 11. The size of the weight-reducing hole or the weight-reducing groove 15 can be set flexibly. For example, the size can be adjusted so that the weight-reducing ratio reaches 10%, 15%, 20%, 30% and so on.

[0054] Based on any one of the embodiments, the adapter is made of a light alloy material, such as aluminum alloy, magnesium alloy, titanium alloy, etc. The light alloy can reduce the load of the robotic arm while meeting the mechanical strength requirements. Further, the adapter preferably uses aluminum alloy material, which is easy to process and has a low material cost, capable of reducing the overall cost of the product.

[0055] Still referring to Figures 1 - 2 , based on any one of the embodiments, the mounting portion 13 includes at least two mounting structures provided on the main body 11. The at least two mounting structures can improve the positioning accuracy and mounting stability of the stepper, prevent the stepper from rotating and shifting, and ensure the electrode implantation accuracy. Additionally, in the mounted state, the stepper is also connected to the rear end of the electrode to control the implantation depth of the electrode. The direction in which the stepper drives the electrode to move needs to be the same as the direction of the guiding hole 14, thereby avoiding electrode bending and improving the control accuracy of the electrode implantation depth.

[0056] Based on any one of the embodiments, the mounting structure on the main body 11 can be a fixed pin, and the stepper is provided with a mating pin hole. The two are installed by pin fitting. Of course, the mounting structure on the main body 11 can also be a pin hole, and the stepper is provided with a mating fixed pin for fitting installation; the mounting structure on the main body 11 can also be a stud, and the stepper is provided with a corresponding through hole. After the stud passes through the through hole, it is locked with a nut / nut; the mounting structure on the main body 11 can also be a threaded hole, and the stepper is provided with a corresponding through hole. After a screw / bolt passes through the through hole, it is locked with the threaded hole; the mounting structure provided on the main body 11 can also be a card slot, and the stepper is provided with a corresponding clamping structure for clamping and fitting installation.

[0057] This embodiment provides various forms of mounting structures, enabling the stepper to be quickly and accurately mounted on the adapter.

[0058] The present invention also provides a DBS electrode implantation guiding assembly. The DBS electrode implantation guiding assembly described below can be understood by referring to the DBS electrode implantation adapter described above.

[0059] Referring to Figure 4, a DBS electrode implantation guiding assembly provided by the present invention includes: a transfer flange 200, any one of the aforementioned DBS electrode implantation adapters 100, a trocar, and a stepper. The transfer flange 200 is connected to the end of the robotic arm 300, and a guiding channel 21 is provided on the transfer flange 200. After patient registration is completed, the surgical robot controls the movement of the robotic arm 300 to the target position according to the planned implantation path, so that the guiding channel 21 is in the implantation direction of the electrode. The adapter 100 is installed in the guiding channel 21 through the embedding portion 12. The diameter of the guiding hole 14 of the adapter is adapted to the outer diameter of the trocar, and provides directional guidance for the trocar in the installed state. The trocar includes an outer tube and an inner core. After the trocar punctures close to or reaches the target under the guidance of the guiding hole 14, the inner core is withdrawn, and the DBS electrode is inserted into the outer tube. The trocar provides a guiding channel for the DBS electrode outside and inside the skull, avoiding the risks of electrode bending and the discharge end deviating from the target caused by directly puncturing with the electrode. The installation portion 13 of the adapter 100 is also used to adapt and install the stepper. The stepper is connected to the rear end of the electrode. The stepper is a precise displacement control device for controlling the implantation depth of the electrode. It can be understood that the direction in which the stepper guides and drives the movement of the electrode is the same as the direction of the guiding hole 14, avoiding electrode bending and affecting the control accuracy of electrode implantation.

[0060] Based on any embodiment, the guiding channel 21 is a columnar through-hole, which can cooperate with the embedding portion 12 for quick installation. Preferably, the guiding channel 21 is a non-cylindrical columnar through-hole. The non-cylindrical columnar through-hole can prevent the embedding portion 12 from rotating in the guiding channel 21, so that the adapter 100 can be stably installed in the guiding channel at a fixed angle without repeatedly correcting the installation direction of the adapter.

[0061] Refer to Figure 5 , based on any embodiment, the DBS electrode implantation guiding assembly further includes at least two first fasteners 22, and the first fasteners 22 are used to connect the transfer flange 200 to the end of the robotic arm 300. At least two first fasteners 22 can improve the installation positioning accuracy, improve the installation stability, and prevent the transfer flange from rotating and moving.

[0062] Still refer to Figure 5 , based on any embodiment, it further includes at least one second fastener 212. A clamping hole 211 is provided on the side wall of the guiding channel 21. The second fastener 212 is used to fix the DBS electrode implantation adapter 100 through the clamping hole 211 after the DBS electrode implantation adapter 100 and the guiding channel 21 are combined as expected.

[0063] Specifically, the second fastener 212 can pass through the clamping hole 211 and directly abut against the embedding portion 12 to squeeze and fix it in the guiding channel 21. Further refer toFigure 1 Moreover, the embedding part 12 of the DBS electrode implantation adapter 100 may be provided with a locking hole 121. The second fastener 212 passes through the clamping hole 211 on the side wall of the guiding channel 21 and cooperates with the locking hole 121 to fix the embedding part 12. Further, at least one of the clamping hole 211 and the locking hole 121 is a threaded hole for cooperating with the second fastener 211 to improve the fastening effect.

[0064] In this embodiment, the position of the adapter is locked by the second fastener 212, preventing the adapter from loosening and ensuring the accuracy of DBS electrode implantation.

[0065] Based on any of the embodiments, in one embodiment, the guiding hole 14 is in clearance fit with the trocar, facilitating the smooth passage of the trocar through the guiding hole 14 to construct an electrode implantation channel (extracranial + intracranial channel). Preferably, the positive error of the inner diameter of the guiding hole does not exceed 2%, and the negative error of the outer diameter of the trocar does not exceed 1%. For example, the inner diameter of the guiding hole is designed to be 1.80 - 1.82 mm, and the outer diameter of the trocar is designed to be 1.79 - 1.80 mm.

[0066] The present invention also provides a DBS electrode implantation robot system. The DBS electrode implantation robot system described below can be understood with reference to the DBS electrode implantation adapter and the DBS electrode implantation guiding assembly described above.

[0067] The DBS electrode implantation robot system provided by the present invention includes: a host, a robotic arm, an input / output device, and the DBS electrode implantation guiding assembly according to any of the foregoing items.

[0068] Specifically, a processor and a memory are provided in the host for performing patient registration operations and navigation and positioning operations of the robotic arm, and controlling the robotic arm to reach the target position. In the target pose of the robotic arm, a DBS electrode implantation adapter can be installed on the end flange of the robotic arm. The implantation direction of the implanted electrode is guided by the DBS electrode implantation adapter, and then the implantation depth of the electrode is accurately controlled by the stepper installed on the adapter, so that the discharge end of the electrode accurately reaches the target point. The robot system also includes an input / output device. The input device such as a keyboard, a mouse, a foot switch, etc. is used for inputting control commands, inputting and collecting data, etc. The output device such as a display, an audio player, etc. is used for displaying or playing surgical-related information, facilitating the user to observe and understand the current surgical state.

[0069] The DBS electrode implantation robot system of the present invention controls the manipulator to move to the target position, positions the adapter in the electrode implantation direction through the flange at the end of the manipulator, and by designing a dedicated adapter, expands the installation range by using the main body connecting the embedding part and the installation part on the main body. The adapter can not only guide the implantation direction of the electrode, but also install a stepper to precisely control the implantation depth of the electrode. Moreover, the main body, the embedding part, and the installation part are integral parts, and the stepper is connected to the manipulator transfer flange through only one part (the adapter), reducing the additional errors introduced by the cooperation between multiple parts, making the radial position deviation of the electrode smaller, and improving the angular accuracy of the implanted electrode.

[0070] Based on the previous embodiment, the end of the manipulator is connected to the DBS electrode implantation guiding assembly through a transfer flange. Specifically, the adapter is installed into the guiding channel of the transfer flange through the embedding part, and the direction of the trocar (i.e., the implantation direction of the electrode) is guided through the guiding hole. The adapter is also provided with an installation part for installing a stepper to control the implantation depth of the electrode. The computer program is stored in the memory, and the processor can load and execute the computer program stored in the memory to control the end of the manipulator to reach the target position and guide the implantation direction of the electrode.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A DBS electrode implantation adapter, characterized in that, it includes: a main body, an embedding part and a mounting part provided on the main body, and the main body is connected to the embedding part; the embedding part is embedded in the guiding channel of the robotic arm adapter flange during use; the adapter is provided with a guiding hole penetrating through the main body and the embedding part, which is used to provide a channel for the directional setting of the trocar; the mounting part is used to adapt to the installation of the stepper, and the stepper is used to control the implantation depth of the electrode.

2. The DBS electrode implantation adapter according to claim 1, characterized in that, the embedding part is provided with at least one locking hole, which is used to fix the relative position of the embedding part and the adapter flange after the embedding part is embedded in the guiding channel, and a fastener passes through the clamping hole provided on the side wall of the guiding channel and reaches the locking hole.

3. The DBS electrode implantation adapter according to claim 1, characterized in that, the main body is provided with at least one threaded hole communicating with the guiding hole, and a screw applies pressure to the trocar through the threaded hole to fix the relative position of the trocar and the guiding hole.

4. The DBS electrode implantation adapter according to claim 3, characterized in that, the axial direction of the threaded hole is perpendicular to the axial direction of the guiding hole.

5. The DBS electrode implantation adapter according to claim 4, characterized in that, there are two threaded holes with mutually perpendicular axial directions.

6. The DBS electrode implantation adapter according to claim 1, characterized in that, the main body is provided with weight-reducing holes or weight-reducing grooves.

7. The DBS electrode implantation adapter according to claim 1, characterized in that, the mounting part includes at least two mounting structures provided on the main body; the mounting structure makes the direction of the electrode driven by the stepper the same as the direction of the guiding hole in the installed state.

8. A DBS electrode implantation guiding assembly, characterized in that, it includes: an adapter flange, a DBS electrode implantation adapter according to any one of claims 1 to 7, a trocar, and a stepper; the adapter flange is connected to the end of the robotic arm during use, and the adapter flange is provided with a guiding channel matching the embedding part; the DBS electrode implantation adapter is installed in the guiding channel through the embedding part, and the trocar passes through the guiding hole of the DBS electrode implantation adapter; the trocar includes an outer tube and an inner core; the stepper is installed on the mounting part of the DBS electrode implantation adapter to control the implantation depth of the electrode.

9. The DBS electrode implantation guiding assembly according to claim 8, characterized in that, it further includes at least two first fasteners, and the first fasteners are used to connect the adapter flange and the end of the robotic arm.

10. The DBS electrode implantation guiding assembly according to claim 8, characterized in that, it further includes at least one second fastener, the side wall of the guiding channel is provided with a clamping hole, and the second fastener is used to fix the DBS electrode implantation adapter by passing through the clamping hole after the DBS electrode implantation adapter and the guiding channel are combined as expected.

11. The DBS electrode implantation guiding assembly according to claim 8, characterized in that, the guiding hole is in clearance fit with the trocar.

12. A DBS electrode implantation robot system, characterized in that, it includes a host, a robotic arm, an input / output device, and the DBS electrode implantation guiding assembly according to any one of claims 8 to 11, and a processor and a memory are provided in the host.

13. The DBS electrode implantation robot system according to claim 12, characterized in that, the end of the robotic arm is connected to the DBS electrode implantation guiding assembly through an adapter flange, a computer program is stored in the memory, and the processor can control the end of the robotic arm to reach the target position by executing the computer program.

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