Implantable flexible electrode and electromyographic signal acquisition system for life machinery body

Abstract

The invention discloses an implantable flexible electrode and an electromyographic signal acquisition system for a life mechanical body, the whole structure of the implantable flexible electrode comprises a bonding pad, a honeycomb structure, a lasso structure, a fishhook structure and a needle point structure with a bulge, and the preparation of the implantable flexible electrode is realized through a screen printing technology; the slave machine and the living body are connected by implanting a flexible electrode through an operation. The electromyographic signal acquisition system comprises an upper computer, a host computer and a slave computer. And the upper computer and the host realize wired communication through a USB (Universal Serial Bus) technology. And the host and the slave realize wireless communication through a Bluetooth technology. The flexible electrode has the advantages that the flexible electrode can be stretched and twisted and is suitable for flexible movement of an organism; the hydrogel has biocompatibility, and can reduce damage to organisms. The slave machine can send a stimulation signal and collect an electromyographic signal; the host integrates temperature and humidity and a display module, and can collect environment information and judge whether an experiment is suitable to be carried out.

Description

Technical Field

[0001] The present invention relates to related fields such as flexible electronics technology, biological principles, signal acquisition technology, Bluetooth communication technology, and USB transmission technology, and specifically relates to a flexible electrode and an electromyogram signal acquisition system for a living mechanical body. Background Art

[0002] A living mechanical body is usually a way of combining bioengineering technology and robotics technology, and using artificial electronic devices to control the body of a living insect to complete expected movements. This "semi-mechanical and semi-biological" robot mode combines the biological characteristics of the organism and the functional characteristics of the mechanical body, and has unique advantages and application potential. By controlling the insect body, the adaptability and flexibility of the insect itself can be utilized to perform various tasks in a specific environment, such as search and rescue, environmental monitoring, etc. At the same time, this method also provides a novel research approach to deeply understand the biological characteristics of insects and apply them to robotics technology.

[0003] A flexible electrode refers to an electrode made of a flexible material, which has high flexibility and plasticity. The application prospect of flexible electrodes in the biomedical field is very broad, and they can be used in the manufacture and research of medical devices such as nerve signal acquisition and artificial retina. Flexible electrodes can better adapt to the morphology of biological tissues, improve the accuracy and stability of signal acquisition, and help improve the diagnostic and therapeutic effects of medical devices.

[0004] Due to the certain flexure degree on the surface of the insect body, when using ordinary electrode wires, the length is often shortened to make the electrode wire fit the insect better. Flexible electrodes are prepared with flexible substrate materials, which can greatly improve the degree of fit with the surface of the insect body. When conducting motion control experiments on insect robots, the insects often perform some life activities autonomously, such as retracting the head, turning, retracting the tail, etc. Ordinary electrode wire materials are mainly made of nickel-chromium alloy, tungsten, copper, etc., and do not have good stretchability. When the insect is stimulated by the outside world, there may be a risk of degumming at the stimulation site or even antenna breakage. Flexible electrodes have good stretchability and can effectively avoid these risks. Ordinary electrode wires are difficult to avoid the potential damage of implanted metal electrodes to tissues. By selecting a flexible material with high biocompatibility and reasonably designing the thin film materials and structures of each layer of the electrode, the biocompatibility of the stimulation electrode can be greatly improved, the necrosis of nerve cells caused by charge aggregation can be reduced, and the inflammatory reaction caused by the immune response of the insect carrier can be reduced. Summary of the Invention

[0005] To solve the above problems, the present invention discloses an implantable flexible electrode for a biological robot and an electromyogram signal acquisition system. The implantable flexible electrode in the present invention has good stretchability and torsionality, which is suitable for the flexible characteristics of the head of a living organism; it also has a good fixing effect, and the unique ring structure is sleeved on the antenna, making the flexible electrode not easy to fall off. The unique barb structure of the implantable flexible electrode in the present invention does not need to be manually bent during the operation, preventing the flexible electrode from breaking due to bending and improving the operation efficiency; the unique convex structure can increase the friction force of the flexible electrode inside the antenna of the biological robot, which is beneficial to the stable progress of the motion control experiment. The electrode length can be implanted closer to the brain of the biological robot, achieving a good control rate. The implantable flexible electrode in the present invention has good biocompatibility compared with traditional electrode wires, which is beneficial to reducing the damage of the electrode to biological tissues and facilitating the long-term progress of biological experiments. The slave machine of the electromyogram signal acquisition system in the present invention can both send stimulation signals to carry out the motion control experiment of the biological robot and collect the electromyogram signals of the biological robot. The host machine of the electromyogram signal acquisition system in the present invention integrates a temperature and humidity sensor and a display module, which is beneficial to collecting environmental information and judging whether it is conducive to carrying out biological experiments. <() <()

[0006] Technical solution: The overall structure of the implantable flexible electrode includes a pad, a honeycomb structure, a lasso structure, a fishhook structure, and a needle tip structure with protrusions; the pad of the implantable flexible electrode is connected to the honeycomb structure and is located below the honeycomb structure, serving as the welding point for the flexible electrode. Usually, the flexible electrode and the slave circuit board of the electromyogram signal acquisition system are connected through welding or wire bonding; the honeycomb structure of the implantable flexible electrode is connected to the pad and the lasso structure, located above the pad and below the lasso structure. In the living mechanical body, the part between the root of the biological antenna and the slave pad has the functions of stretching and torsion, which is suitable for the flexible characteristics of the biological head. The unique honeycomb structure is equivalent to several conductive electrodes connected in parallel, which can reduce the electrode impedance, increase the stimulation current, and enhance the electrostimulation effect. The unique honeycomb structure can also improve the experimental reliability. Even if a certain honeycomb electrode line breaks during the movement experiment, other honeycomb electrode lines can still work normally; the lasso structure of the implantable flexible electrode is connected to the honeycomb structure and the fishhook structure, located above the honeycomb structure and below the fishhook structure. In the living mechanical body, it is located at the fitting part of the biological antenna and has a fixing effect, making the flexible electrode have a special effect on the biological antenna part. The ring structure is sleeved on the antenna to prevent the flexible electrode from falling off; the fishhook structure of the implantable flexible electrode is connected to the lasso structure and the needle tip structure with protrusions, located above the lasso structure and the needle tip structure with protrusions. In the living mechanical body, it is located at the top of the antenna. The unique barbed structure does not need to be manually bent during the operation, preventing the flexible electrode from breaking due to bending, improving the operation efficiency and being more conducive to the progress of biological surgery; the needle tip structure with protrusions of the implantable flexible electrode is connected to the fishhook structure and is located below the fishhook structure. In the living mechanical body, it is located inside the antenna. The unique protrusion structure is beneficial to increasing the friction force of the flexible electrode inside the antenna of the living mechanical body, facilitating the stable progress of the motion control experiment. The length is close to the length of the antenna, which is beneficial to implanting closer to the brain of the living mechanical body to achieve a good control rate.

[0007] As an improvement of the present invention, the honeycomb structure of the implantable flexible electrode includes Honeycomb One, Honeycomb Two, Honeycomb Three, and Honeycomb Four; Honeycomb One is connected to Honeycomb Two and Honeycomb Four and is symmetric with Honeycomb Three, and is used for the stretching and torsion of the structure; Honeycomb Two is connected to Honeycomb One and Honeycomb Three and is symmetric with Honeycomb Four, and is used for the stretching and torsion of the structure; Honeycomb Three is connected to Honeycomb Two and Honeycomb Four and is symmetric with Honeycomb One, and is used for the stretching and torsion of the structure; Honeycomb Four is connected to Honeycomb One and Honeycomb Three and is symmetric with Honeycomb Two, and is used for the stretching and torsion of the structure.

[0008] Honeycomb 1 includes the first to fourth connecting beams of Honeycomb 1, which are connected to the first connecting beam of Honeycomb 2 and the first connecting beam of Honeycomb 4, and are symmetric to the first to fourth connecting beams of Honeycomb 3, and are used for the tension and torsion of the honeycomb structure; Honeycomb 2 includes the first and second connecting beams of Honeycomb 2, which are connected to the second connecting beam of Honeycomb 1 and the second connecting beam of Honeycomb 3, and are symmetric to the first and second connecting beams of Honeycomb 4, and are used for the tension and torsion of the Honeycomb 2 structure; Honeycomb 3 includes the first to fourth connections of Honeycomb 3, which are connected to the second connecting beam of Honeycomb 2 and the second connecting beam of Honeycomb 4, and are symmetric to the first to fourth connecting beams of Honeycomb 1, and are used for the tension and torsion of the Honeycomb 3 structure; Honeycomb 4 includes the first and second connecting beams of Honeycomb 4, which are connected to the fourth connecting beam of Honeycomb 1 and the fourth connecting beam of Honeycomb 3, and are symmetric to the first and second connecting beams of Honeycomb 2, and are used for the tension and torsion of the Honeycomb 4 structure.

[0009] As an improvement of the present invention, the noose structure of the implantable flexible electrode includes Noose 1, Noose 2, and Noose 3; Noose 1 is connected to Noose 2 and is located to the left of Noose 2 for fitting the antenna whisker; Noose 2 is connected to Noose 1 and Noose 3 and is located between Noose 1 and Noose 3 for fitting the antenna whisker, and Noose 3 is connected to Noose 2 and is located to the right of Noose 2 for fitting the antenna whisker; Noose 1 includes a Noose 1 connecting arc and a Noose 1 ring; the Noose 1 connecting arc is connected to the Noose 1 ring and is located to the left of the Noose 1 ring for structural tension, and the Noose 1 ring is connected to the Noose 1 connecting arc and the Noose 2 connecting arc and is located between the Noose 1 connecting arc and the Noose 2 connecting arc for fixing the antenna whisker; The noose includes a Noose 2 connecting arc and a Noose 2 ring; the Noose 2 connecting arc is connected to the Noose 1 ring and the Noose 2 circle and is located between the Noose 1 ring and the Noose 2 circle for structural tension, and the Noose 2 ring is connected to the Noose 2 connecting arc and the Noose 3 connecting arc and is located between the Noose 2 connecting arc and the Noose 3 connecting arc for fixing the antenna whisker; Noose 3 includes a Noose 3 connecting arc and a Noose 3 ring; the Noose 3 connecting arc is connected to the Noose 2 ring and the Noose 3 ring and is located between the Noose 2 ring and the Noose 3 ring for structural tension, and the Noose 3 ring is connected to the Noose 3 connecting arc and is located to the right of the Noose 3 connecting arc for fixing the antenna whisker; The noose connecting arc is used to connect the noose ring and fit the antenna of the living machine body; The noose ring is used to prevent the flexible electrode from falling off the antenna.

[0010] As an improvement of the present invention, the fishhook structure of the implantable flexible electrode includes a fishhook rod, a fishhook, and a fishhook tip; the fishhook rod is connected to the fishhook and is located to the left of the fishhook arc and above the fishhook tip for supporting the fishhook structure; the fishhook arc is connected to the fishhook rod and the fishhook tip and is located between the fishhook rod and the fishhook tip to facilitate the implantation operation; the fishhook tip is connected to the fishhook arc and is located to the left of the fishhook arc and below the fishhook rod for supporting the probe tip with a protrusion; The raised needle tip structure of the implantable flexible electrode includes a needle tip handle, a needle tip protrusion, and a needle tip end; the needle tip handle is connected to the needle tip protrusion and is located to the right of the needle tip protrusion, serving as the main part of the needle tip and needing to withstand a certain amount of flexion force; the needle tip protrusions are connected to the needle tip handle and are symmetrically distributed on both sides of the needle tip protrusion, used to increase the friction between the flexible electrode and the inside of the antenna; the needle tip end is connected to the needle tip handle and is located to the left of the needle tip handle, used for the puncture operation when implanting the flexible electrode.

[0011] As an improvement of the present invention, the electromyogram signal acquisition system includes a host computer, a main machine, a slave machine, and an organism; the host computer is connected to the main machine through a wired USB for data transmission between the host computer and the main machine; the main machine is connected to the slave machine through wireless Bluetooth communication for communication between the main machine and the slave machine; the slave machine is connected to the organism through an implantable flexible electrode for transmitting an electrical stimulation signal; the organism consists of a stimulation site and a collection site; the stimulation site is unidirectionally connected to a Bluetooth microcontroller II through a stimulation electrode and an electrical stimulator for controlling the turning action of the organism; the collection site is unidirectionally connected to the Bluetooth microcontroller II through a collection electrode and a signal conditioning circuit for collecting the muscle signal of the organism; the slave machine consists of a Bluetooth microcontroller II, a power supply, a voltage stabilization module II, a crystal oscillator circuit, a reset circuit, a programming interface, a signal conditioning circuit, a radio frequency module II, and an antenna II; the power supply is unidirectionally connected to the voltage stabilization module II for supplying power to the entire slave machine system; the voltage stabilization module II is unidirectionally connected to the Bluetooth microcontroller II and the signal conditioning circuit for supplying power to the Bluetooth microcontroller II and the signal conditioning circuit; the crystal oscillator circuit is unidirectionally connected to the Bluetooth microcontroller II for providing a main clock; the reset circuit is unidirectionally connected to the Bluetooth microcontroller II for resetting in case of a fault; the programming interface is unidirectionally connected to the Bluetooth microcontroller II for programming the Bluetooth microcontroller II; the signal conditioning circuit is unidirectionally connected to the Bluetooth microcontroller II for collecting the muscle signal; the radio frequency module II is bidirectionally connected to the Bluetooth microcontroller II, the radio frequency module II is bidirectionally connected to the antenna II, and the antenna II is bidirectionally connected to the antenna I for receiving the instruction sent by the main machine to the slave machine and forwarding the data sent by the slave machine to the main machine; the main machine consists of a Bluetooth microcontroller I, a USB module, a voltage stabilization module I, a temperature and humidity module, a display module, a radio frequency module I, and an antenna I; the USB module is bidirectionally connected to a VISA serial port communication in a wired manner for supplying power to the main machine and sending the data from the main machine to the host computer and receiving the instruction from the host computer to the main machine; the USB module is unidirectionally connected to the voltage stabilization module I for supplying power to the voltage stabilization module I; the voltage stabilization module I is unidirectionally connected to the Bluetooth microcontroller I, the temperature and humidity module, and the display module for supplying power to the Bluetooth microcontroller I, the temperature and humidity module, and the display module; the USB module is bidirectionally connected to the Bluetooth microcontroller I for forwarding the data transmitted by the Bluetooth microcontroller I to the VISA serial port communication and forwarding the instruction transmitted by the VISA serial port communication to the Bluetooth microcontroller I; the radio frequency module I is bidirectionally connected to the Bluetooth microcontroller I, the radio frequency module I is bidirectionally connected to the antenna I, and the antenna I is bidirectionally connected to the antenna II for receiving the data sent by the slave machine to the slave machine and forwarding the instruction sent by the main machine to the slave machine.

[0012] The slave machine is connected to the pad of the flexible electrode by welding, and the flexible electrode with a convex needle tip structure is connected to the organism through an implantation operation.

[0013] As an improvement of the present invention, the implementation method for signal acquisition of the signal conditioning circuit of the slave machine specifically includes the following: Step (1) is an electrostatic protection circuit to prevent the circuit from being damaged by electrostatic discharge; Step (2) is a first-stage differential amplifier circuit. After the signal passes through the electrostatic protection circuit, it needs to be amplified at the first stage with an amplification factor of 20 times and common-mode interference is suppressed. The first-stage amplification has the characteristics of high common-mode rejection ratio, high input impedance, high gain, and low noise; Step (3) is an active band-pass filter circuit. After the signal passes through the first-stage differential amplifier circuit, the common-mode interference is suppressed, and then the active band-pass filter circuit is used to eliminate low-frequency and high-frequency interferences, allowing signals with frequencies in the range of 20 - 450 Hz to pass through; Step (4) is a second-stage amplifier circuit. After the signal is amplified at the first stage and passes through the band-pass filter, the amplitude is increased, and the frequency of the signal is mainly concentrated in the range of 20 - 450 Hz. The second-stage amplifier circuit further amplifies the amplitude to 2000 times; Step (5) is a baseline voltage module and a voltage boosting circuit. The baseline voltage module includes a voltage division circuit and a voltage follower, which converts the 3.3V voltage into 1.65V. The voltage follower has a high input impedance and a low output impedance and is used in the intermediate stage. It can effectively isolate the previous-stage circuit and ensure the stability of the output voltage; the voltage boosting circuit acts as an adder to superimpose the amplified signal and the 1.65V voltage, which is beneficial for the subsequent ADC acquisition; Step (6) is ADC acquisition. The ADC built in the wireless microcontroller two performs analog-to-digital conversion on the signal after signal conditioning and sends it to the wireless microcontroller one through Bluetooth communication.

[0014] As an improvement of the present invention, the implementation method for host data forwarding and sensor data acquisition specifically includes the following: Step (1) After the host is initialized, it measures the temperature and humidity of the environment and displays the temperature and humidity data on the display module; Step (2) After the host completes temperature measurement, it determines whether the temperature is suitable for the experiment. If the temperature is within the range of 24 to 32 degrees Celsius, the display module shows that the experiment is suitable; otherwise, the host shows that the experiment is not suitable; Step (3) The host continuously initiates a scanning connection. When the host is in the scanning state, the led light will flash; if the name of the host matches that of the slave machine, a connection is established with the slave machine; if the names do not match, it is automatically ignored; after successfully connecting to the slave machine, the connection is completed and the led light is on constantly; after the connection is completed, the event type is judged, which is divided into data transmitted from the slave machine and data transmitted from the upper computer; In step (4), if data is transmitted from the host computer, Wireless Microcontroller 1 will wirelessly send the data to the slave via Bluetooth communication; if data is transmitted from the slave, Wireless Microcontroller 1 will send the data to the host computer in a wired manner via the USB module.

[0015] As an improvement of the present invention, the processing flow of the implantable flexible electrode specifically includes the following: Step (1) is hot pressing PI. PI is evenly pressed onto the support layer through a hot pressing process, and it is ensured that the PI substrate is completely adhered to the surface of the support layer, otherwise it will affect the accuracy of the subsequent printing process. Step (2) is printing silver paste. First, a screen needs to be made. 1. Film production: The film is directly output by a computer, including steps such as manuscript integration and process arrangement, original manuscript input, graphic processing and typesetting, and film output. 2. Stretching the screen: According to the type of the substrate, the fine requirements of the printed matter, the characteristics of the conductive silver paste, and the cost of the screen, etc., select appropriate screen materials, thickness, mesh count, mesh area ratio, and ink transfer volume of the screen; then select a screen frame of appropriate size and material according to the requirements of the screen. The selected screen frame has strong anti-tensile strength, is durable, easy to operate, and has good adhesiveness; then stretch the screen on the screen frame, and perform cutting and trimming. After wetting the screen, place the warp and weft of the screen parallel to the frame edge on the screen frame. 3. Coating the photosensitive glue: First, perform pre-treatment on the screen, wash the screen thoroughly with a cleaning agent; then prepare the photosensitive solution, coat the photosensitive glue, and dry the photosensitive film. 4. Plate making: First, perform exposure. Select the correct exposure time according to the photosensitive emulsion, screen, light source, and the distance between the exposure lamp and the screen plate, and then perform development, drying, and plate repair. 5. Printing: Position the substrate on the printing table, then place the screen plate on the substrate of the printing machine and install the squeegee, and tighten the screws to prevent loosening during printing. Place a certain amount of silver paste at the starting point of scraping. After starting the equipment, step on the pedal to keep the squeegee moving in the same direction to scrape the silver paste across, and the printing is completed; then, take out the sample and place it on the dryer for drying to dry the silver paste. Step (3) is printing the insulating layer, and it is ensured that the windowed part is exposed. The pad part needs to be completely windowed for soldering with the circuit board. Three contacts are windowed at the electrode tip for stimulating the antenna of the living mechanical body, and then the printed insulating layer is cured through ultraviolet (UV) curing technology. Step (4) is laser cutting. First, alignment marks need to be made to prevent cutting failure. Before cutting, it is usually necessary to measure the thickness of the device to determine the cutting power. After setting the parameters, cut the sample with an infrared cutting machine to release the electrode. Step (5) is peeling. The last step is to peel the cut flexible electrode from the support layer.

[0016] Advantages of the present invention: (1) The implantable flexible electrode in the present invention has good stretchability and torsionality, which is suitable for the flexible characteristics of the head of organisms; it also has a good fixing effect, and the unique ring structure sleeved on the antenna makes the flexible electrode not easy to fall off.

[0017] (2) The unique barb structure of the implantable flexible electrode in the present invention does not need to be manually bent during the operation, which prevents the flexible electrode from breaking due to bending and improves the operation efficiency; the unique convex structure can increase the friction force of the flexible electrode inside the antenna of the living mechanical body, which is beneficial to the stable progress of the motion control experiment. The electrode length can be implanted closer to the brain of the living mechanical body to achieve a good control rate.

[0018] (3) The implantable flexible electrode in the present invention has good biocompatibility compared with the traditional electrode wire, which is beneficial to reducing the damage of the electrode to the biological tissue and facilitating the long-term progress of biological experiments.

[0019] (4) The slave machine of the electromyogram signal acquisition system in the present invention can not only send stimulation signals to carry out the motion control experiment of the living mechanical body, but also collect the electromyogram signals of the living mechanical body.

[0020] (5) The host machine of the electromyogram signal acquisition system in the present invention integrates a temperature and humidity sensor and a display module, which is beneficial to collecting environmental information and judging whether it is conducive to carrying out biological experiments. Brief Description of the Drawings

[0021] Figure 1 is a three-dimensional schematic diagram of the overall structure of the implantable flexible electrode of the present invention; Figure 2 is a planar schematic diagram of the honeycomb structure of the implantable flexible electrode; Figure 3 is a planar schematic diagram of the lasso structure of the implantable flexible electrode; Figure 4 is a planar schematic diagram of the fishhook structure of the implantable flexible electrode; Figure 5 is a schematic diagram of the overall structure of the electromyogram signal acquisition system of the present invention; Figure 6 is a flowchart of the signal conditioning circuit of the slave machine; Figure 7 is a flowchart of the implementation method for data forwarding of the host machine and sensor data acquisition; Figure 8 is a flowchart of the processing and preparation of the flexible electrode. Detailed Embodiment

[0022] The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. It should be noted that the terms "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" refer to the directions towards or away from the geometric center of a specific component, respectively.

[0023] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the implantable flexible electrode of the present invention. This embodiment is an implantable flexible electrode and electromyogram signal acquisition system for a living mechanical body. The overall structure of the implantable flexible electrode includes a pad 1, a honeycomb structure 2, a lasso structure 3, a fishhook structure 4, and a raised tip structure 5; The pad 1 of the implantable flexible electrode is connected to the honeycomb structure 2 and is located below the honeycomb structure 2. It is used as the welding point of the flexible electrode and is usually connected to the slave circuit board of the electromyogram signal acquisition system by welding or wire bonding. The honeycomb structure 2 of the implantable flexible electrode is connected to the pad 1 and the lasso structure 3. It is located above the pad 1 and below the lasso structure 3. In the living mechanical body, it is the part between the root of the biological antenna and the slave pad. It has the functions of stretching and torsion, which is suitable for the flexible characteristics of the biological head. The unique honeycomb structure is equivalent to several conductive electrodes connected in parallel, which can reduce the electrode impedance, increase the stimulation current, and enhance the electrical stimulation effect. The unique honeycomb structure can also improve the experimental reliability. Even if a certain honeycomb electrode line breaks during the movement experiment, other honeycomb electrode lines can still work normally. The lasso structure 3 of the implantable flexible electrode is connected to the honeycomb structure 2 and the fishhook structure 4. It is located above the honeycomb structure 2 and below the fishhook structure 4. In the living mechanical body, it is the part that fits the biological antenna and has a fixing effect, making the flexible electrode have a special effect on the biological antenna part. The ring structure is sleeved on the antenna to prevent the flexible electrode from falling off. The fishhook structure 4 of the implantable flexible electrode is connected to the lasso structure 3 and the raised tip structure 5. It is located above the lasso structure 3 and the raised tip structure 5. In the living mechanical body, it is located at the top of the antenna. The unique barb structure does not need to be manually bent during the operation, which prevents the flexible electrode from breaking due to bending, improves the operation efficiency, and is more conducive to the biological operation. The raised tip structure 5 of the implantable flexible electrode is connected to the fishhook structure 4 and is located below the fishhook structure 4. In the living mechanical body, it is located inside the antenna. The unique raised structure is beneficial to increasing the friction force of the flexible electrode inside the antenna of the living mechanical body, which is beneficial to the stable progress of the motion control experiment. Its length is close to the length of the antenna, which is beneficial to implanting closer to the brain of the living mechanical body to achieve a good control rate.

[0024] Figure 2 It is a plan view of the honeycomb structure of the implantable flexible electrode. The honeycomb structure 2 of the implantable flexible electrode includes honeycomb one 201, honeycomb two 202, honeycomb three 203 and honeycomb four 204; honeycomb one 201 is connected to honeycomb two 202 and honeycomb four 204, is symmetrical with honeycomb three 203, and is used for the stretching and torsion of the structure; honeycomb two 202 is connected to honeycomb one 201 and honeycomb three 203, is symmetrical with honeycomb four 204, and is used for the stretching and torsion of the structure; honeycomb three 203 is connected to honeycomb two 202 and honeycomb four 204, is symmetrical with honeycomb one 201, and is used for the stretching and torsion of the structure; honeycomb four 204 is connected to honeycomb one 201 and honeycomb three 203, is symmetrical with honeycomb two 202, and is used for the stretching and torsion of the structure.

[0025] Honeycomb one 201 includes the first to fourth connecting beams 201a, 201b, 201c, 201d of honeycomb one, is connected to the first connecting beam 202a of honeycomb two and the first connecting beam 204a of honeycomb four, is symmetrical with the first to fourth connecting beams 203a, 203b, 203c, 203d of honeycomb three, and is used for the stretching and torsion of the structure of honeycomb one 201; honeycomb two 202 includes the first and second connecting beams 202a, 202b of honeycomb two, is connected to the second connecting beam 201b of honeycomb one and the second connecting beam 203b of honeycomb three, is symmetrical with the first and second connecting beams 204a, 204b of honeycomb four, and is used for the stretching and torsion of the structure of honeycomb two 202; honeycomb three 203 includes the first to fourth connecting beams 203a, 203b, 203c, 203d of honeycomb three, is connected to the second connecting beam 202b of honeycomb two and the second connecting beam 204b of honeycomb four, is symmetrical with the first to fourth connecting beams 201a, 201b, 201c, 201d of honeycomb one, and is used for the stretching and torsion of the structure of honeycomb three 203; honeycomb four 204 includes the first and second connecting beams 204a, 204b of honeycomb four, is connected to the fourth connecting beam 201d of honeycomb one and the fourth connecting beam 203d of honeycomb three, is symmetrical with the first and second connecting beams 202a, 202b of honeycomb two, and is used for the stretching and torsion of the structure of honeycomb four 204.

[0026] Figure 3 It is a plan view of the lasso structure of the implantable flexible electrode. The lasso structure 3 of the implantable flexible electrode includes lasso one 301, lasso two 302 and lasso three 303; lasso one 301 is connected to lasso two 302, is located to the left of lasso two 302, and is used for the fitting of the antenna whisker; lasso two 302 is connected to lasso one 301 and lasso three 303, is located between lasso one 301 and lasso three 303, and is used for the fitting of the antenna whisker. Lasso three 303 is connected to lasso two 302, is located to the right of lasso two 302, and is used for the fitting of the antenna whisker; Lasso 1 301 includes lasso 1 connecting arc 301a and lasso 1 ring 301b; lasso 1 connecting arc 301a is connected to lasso 1 ring 301b, located to the left of lasso 1 ring 301b, for structural stretching, lasso 1 ring 301b is connected to lasso 1 connecting arc 301a and lasso 2 connecting arc 302a, located between lasso 1 connecting arc 301a and lasso 2 connecting arc 302a, for fixing antennae; lasso 2 302 includes lasso 2 connecting arc 302a and lasso 2 ring 302b; lasso 2 connecting arc 302a is connected to lasso 1 ring 301b and lasso 2 ring 302b, located between lasso 1 ring 301b and lasso 2 ring 302b, for structural stretching, lasso 2 ring 302 b is connected to the lasso second connecting arc 302a and the lasso third connecting arc 303a, located between the lasso second connecting arc 302a and the lasso third connecting arc 303a, and is used to fix the antennae; the lasso third 303 includes the lasso third connecting arc 303a and the lasso third circular ring 303b; the lasso third connecting arc 303a is connected to the lasso second circular ring 302b and the lasso third circular ring 303b, and is located between the lasso second circular ring 302b and the lasso third circular ring 303b, and is used for structural stretching; the lasso third circular ring 303b is connected to the lasso third connecting arc 303a, located to the right of the lasso third connecting arc 303a, and is used to fix the antennae; the lasso connecting arc is used to connect the lasso circular ring and fit the antennae of the life machine body; the lasso circular ring is used to prevent the flexible electrode and the antennae from falling off easily.

[0027] Figure 4 Schematic diagram of a planar structure of an implantable flexible electrode fishhook. The fishhook structure 4 of the implantable flexible electrode includes a fishhook rod 401, a fishhook arc 402, and a fishhook tip 403. The fishhook rod 401 is connected to the fishhook arc 402, located to the left of the fishhook arc 402 and above the fishhook tip 403, and is used to support the fishhook structure. The fishhook arc 402 is connected to the fishhook rod 401 and the fishhook tip 403, and is located between the fishhook rod 401 and the fishhook tip 403 to facilitate the implantation surgery. The fishhook tip 403 is connected to the fishhook arc 402, located to the left of the fishhook arc 402 and below the fishhook rod 401, and is used to support the probe tip with a protrusion. The implantable flexible electrode has a raised needle tip structure 5 including a needle tip handle 501, a needle tip protrusion 502 and a needle tip end 503; the needle tip handle 501 is connected to the needle tip protrusion 502, is located to the right of the needle tip protrusion 502, serves as the main part of the needle tip, and needs to withstand a certain bending force; the needle tip protrusion 502 is connected to the needle tip handle 501, is located on both sides of the needle tip protrusion 502 and is symmetrically distributed, and is used to increase the friction between the flexible electrode and the inside of the tentacle; the needle tip end 503 is connected to the needle tip handle 501, is located to the left of the needle tip handle 501, and is used for puncture operations when the flexible electrode is implanted.

[0028] Figure 5This is a schematic diagram of the overall structure of the electromyogram signal acquisition system of the present invention. The electromyogram signal acquisition system includes a host computer, a main machine, a slave machine, and an organism. The host computer is connected to the main machine through a wired USB for data transmission between the host computer and the main machine. The main machine is connected to the slave machine through wireless Bluetooth communication for communication between the main machine and the slave machine. The slave machine is connected to the organism through an implantable flexible electrode for transmitting an electrical stimulation signal. The organism is composed of a stimulation site and a collection site. The stimulation site is unidirectionally connected to a Bluetooth microcontroller II through a stimulation electrode and an electrical stimulator for controlling the turning action of the organism. The collection site is unidirectionally connected to the Bluetooth microcontroller II through a collection electrode and a signal conditioning circuit for collecting the muscle signal of the organism. The slave machine is composed of a Bluetooth microcontroller II, a power supply, a voltage stabilization module II, a crystal oscillator circuit, a reset circuit, a programming interface, a signal conditioning circuit, a radio frequency module II, and an antenna II. The power supply is unidirectionally connected to the voltage stabilization module II for supplying power to the entire slave machine system. The voltage stabilization module II is unidirectionally connected to the Bluetooth microcontroller II and the signal conditioning circuit for supplying power to the Bluetooth microcontroller II and the signal conditioning circuit. The crystal oscillator circuit is unidirectionally connected to the Bluetooth microcontroller II for providing a main clock. The reset circuit is unidirectionally connected to the Bluetooth microcontroller II for resetting in case of a failure. The programming interface is unidirectionally connected to the Bluetooth microcontroller II for programming the Bluetooth microcontroller II. The signal conditioning circuit is unidirectionally connected to the Bluetooth microcontroller II for collecting the muscle signal. The radio frequency module II is bidirectionally connected to the Bluetooth microcontroller II. The radio frequency module II is bidirectionally connected to the antenna II. The antenna II is bidirectionally connected to the antenna I for receiving the instruction sent by the main machine to the slave machine and forwarding the data sent by the slave machine to the main machine. The main machine is composed of a Bluetooth microcontroller I, a USB module, a voltage stabilization module I, a temperature and humidity module, a display module, a radio frequency module I, and an antenna I. The USB module is bidirectionally connected to a VISA serial port communication in a wired manner for supplying power to the main machine and sending the data of the main machine to the host computer and receiving the instruction of the host computer to the main machine. The USB module is unidirectionally connected to the voltage stabilization module I for supplying power to the voltage stabilization module I. The voltage stabilization module I is unidirectionally connected to the Bluetooth microcontroller I, the temperature and humidity module, and the display module for supplying power to the Bluetooth microcontroller I, the temperature and humidity module, and the display module. The USB module is bidirectionally connected to the Bluetooth microcontroller I for forwarding the data transmitted by the Bluetooth microcontroller I to the VISA serial port communication and forwarding the instruction transmitted by the VISA serial port communication to the Bluetooth microcontroller I. The radio frequency module I is bidirectionally connected to the Bluetooth microcontroller I. The radio frequency module I is bidirectionally connected to the antenna I. The antenna I is bidirectionally connected to the antenna II for receiving the data sent by the slave machine to the slave machine and forwarding the instruction sent by the main machine to the slave machine.

[0029] Figure 6 This is a flowchart of the signal conditioning circuit of the slave machine. The implementation method of signal acquisition of the signal conditioning circuit of the slave machine specifically includes the following: Step (1) is an electrostatic protection circuit to prevent the circuit from being damaged by electrostatic discharge; Step (2) is a first-stage differential amplifier circuit. After the signal passes through the electrostatic protection circuit, it needs to be amplified at the first stage with an amplification factor of 20 times and common-mode interference is suppressed. The first-stage amplification features a high common-mode rejection ratio, high input impedance, high gain, and low noise; Step (3) is an active band-pass filter circuit. After the signal passes through the first-stage differential amplifier circuit, the common-mode interference is suppressed, and then the active band-pass filter circuit is used to eliminate low-frequency and high-frequency interferences, allowing signals with frequencies in the range of 20 - 450 Hz to pass through; Step (4) is a second-stage amplifier circuit. After the signal is amplified at the first stage and passes through the band-pass filter, its amplitude is increased, and the frequency of the signal mainly concentrates in the range of 20 - 450 Hz. The second-stage amplifier circuit further amplifies the amplitude to 2000 times; Step (5) is a baseline voltage module and a voltage boost circuit. The baseline voltage module includes a voltage division circuit and a voltage follower, which converts the 3.3V voltage into 1.65V. The voltage follower has a high input impedance and a low output impedance and is used in the intermediate stage, which can effectively isolate the previous-stage circuit and ensure the stability of the output voltage; the voltage boost circuit functions as an adder to superimpose the amplified signal and the 1.65V voltage, which is beneficial for the subsequent acquisition by the ADC; Step (6) is ADC acquisition. The ADC built in the wireless microcontroller two performs analog-to-digital conversion on the conditioned signal and sends it to the wireless microcontroller one through Bluetooth communication.

[0030] Figure 7 It is a flowchart of the implementation method for host data forwarding and sensor data acquisition. The implementation method for host data forwarding and sensor data acquisition specifically includes the following: After the host is initialized in Step (1), the temperature and humidity of the environment are measured, and the temperature and humidity data are displayed on the display module; After the host finishes temperature measurement in Step (2), it judges whether the temperature is suitable for the experiment. If the temperature is within the range of 24 to 32 degrees Celsius, the display module shows that the experiment is suitable; otherwise, the host shows that the experiment is not suitable; In Step (3), the host continuously initiates scanning and connection. When the host is in the scanning state, the led light will blink; if the host name matches the slave name, a connection is established with the slave; if the names do not match, it is automatically ignored; after successfully connecting with the slave, the connection is completed and the led light is on constantly; after the connection is completed, the event type is judged, which is divided into data transmitted from the slave and data transmitted from the host computer; In Step (4), if the data is transmitted from the host computer, the wireless microcontroller one will wirelessly send the data to the slave through Bluetooth communication; if the data is transmitted from the slave, the wireless microcontroller one will wiredly send the data to the host computer through the USB module.

[0031] Figure 8 The following is a flowchart for the processing and preparation of implantable flexible electrodes. The processing flow of implantable flexible electrodes specifically includes the following: Step (1) is to hot press the PI, and evenly press the PI onto the support layer through the hot pressing process, and ensure that the PI substrate is completely in contact with the surface of the support layer, otherwise it will affect the accuracy of the subsequent printing process; Step (2) is to print silver paste, and the screen must be made first. 1. Film production: Directly output the film through the computer, including the steps of draft and process arrangement, manuscript input, graphic processing and typesetting, and film output. 2. Screen stretching: According to the type of substrate, the fine requirements of the printed matter, the characteristics of the conductive silver paste, and the cost of the screen, select the appropriate screen material, thickness, mesh count, mesh area ratio, and screen ink flow rate; then, based on the requirements of the screen, select a screen frame of suitable size and material. The selected screen frame should have strong tensile strength, be durable, easy to operate, and have good adhesion; then, stretch the screen on the screen frame, cut and trim it, and after wetting the screen, place the warp and weft of the screen on the screen frame parallel to the frame edge; 3. Photosensitive adhesive coating: First, pre-treat the screen and wash the screen thoroughly with detergent; then prepare the photosensitive liquid, apply the photosensitive adhesive, and dry the photosensitive film. 4. Exposure: First, exposure is performed. The correct exposure time is selected according to the photosensitive emulsion, screen, light source, and the distance between the exposure lamp and the screen. Then, development, drying, and plate correction are performed. 5. Printing: The substrate is positioned on the printing table, and the screen is placed on the substrate of the printing press. The scraper is installed and the screws are tightened to prevent loosening during printing. A certain amount of silver paste is placed at the starting point of the scraping. After turning on the equipment, the pedal is pressed to keep the scraper in the same direction to scrape the silver paste. The printing is completed. Next, the sample is taken out and placed in a dryer to dry the silver paste. Step (3) is to print the insulating layer and ensure that the window area is exposed. The pad area needs to be completely opened for welding with the circuit board. Three contact points are opened at the tip of the electrode to stimulate the tentacles of the life machine body. The printed insulating layer is then cured by ultraviolet (UV) curing technology. Step (4) is laser cutting. First, alignment marks need to be made to prevent cutting failure. Before cutting, the device thickness usually needs to be measured to determine the cutting power. After setting the parameters, the sample is cut by an infrared cutting machine to release the electrodes. Step (5) is peeling, the last step is to peel the flexible electrode from the support layer after cutting.

[0032] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above-mentioned embodiment, but also include technical solutions composed of any combination of the above technical features.

Claims

1. An implantable flexible electrode and electromyogram signal acquisition system for a living mechanical body, characterized in that: The overall structure of the implantable flexible electrode includes a pad (1), a honeycomb structure (2), a lasso structure (3), a fishhook structure (4), and a raised tip structure (5); wherein the upper end of the honeycomb structure (2) is connected to the lasso structure (3) and the lower end is connected to the pad (1); the upper end of the lasso structure (3) is connected to the fishhook structure (4), and the lower end of the fishhook structure (4) is connected to the raised tip structure (5); the myoelectric signal acquisition system includes a host computer, a main machine, and a slave machine; wherein the host computer is connected to the main machine through a wired USB, and the main machine is connected to the slave machine through wireless Bluetooth communication; the slave machine is connected to the pad (1) of the flexible electrode by welding, and the raised tip structure (5) of the flexible electrode is connected to the organism through an implantation operation.

2. The implantable flexible electrode and electromyogram signal acquisition system for a life robot according to claim 1, wherein: The honeycomb structure (2) includes honeycomb one (201), honeycomb two (202), honeycomb three (203), and honeycomb four (204); honeycomb three (203) and honeycomb one (201) are symmetrically arranged up and down, and honeycomb two (202) and honeycomb four (204) are symmetrically arranged left and right; wherein the left and right sides of the upper section of honeycomb one (201) are respectively connected to the lower sections of honeycomb two (202) and honeycomb four (204); the left and right sides of the lower section of honeycomb three (203) are respectively connected to the upper sections of honeycomb two (202) and honeycomb four (204).

3. An implantable flexible electrode and electromyogram signal acquisition system for a living mechanical body according to claim 2, characterized in that: Honeycomb one (201) includes honeycomb one first, second, third, and fourth connecting beams (201a, 201b, 201c, 201d), which are connected to honeycomb two first connecting beam (202a) and honeycomb four first connecting beam (204a), and are symmetric with honeycomb three first to fourth connecting beams (203a, 203b, 203c, 203d), and are used for the stretching and torsion of the honeycomb one (201) structure; honeycomb two (202) includes honeycomb two first and connecting beams (202a, 202b), which are connected to honeycomb one second connecting beam (201b) and honeycomb three second connecting beam (203b), and are symmetric with honeycomb four first and second connecting beams (204a, 204b), and are used for the stretching and torsion of the honeycomb two (202) structure; honeycomb three (203) includes honeycomb three first, second, third, and fourth connecting beams (203a, 203b, 203c, 203d), which are connected to honeycomb two second connecting beam (202b) and honeycomb four second connecting beam (204b), and are symmetric with honeycomb one first, second, third, and fourth connecting beams (201a, 201b, 201c, 201d), and are used for the stretching and torsion of the honeycomb three (203) structure; honeycomb four (204) includes honeycomb four first and second connecting beams (204a, 204b), which are connected to honeycomb one fourth connecting beam (201d) and honeycomb three fourth connecting beam (203d), and are symmetric with honeycomb two first and second connecting beams (202a, 202b), and are used for the stretching and torsion of the honeycomb four (204) structure.

4. An implantable flexible electrode and electromyogram signal acquisition system for a living mechanical body according to claim 1, characterized in that: The lasso structure (3) includes a first lasso (301), a second lasso (302), and a third lasso (303); the first lasso (301) is connected to the second lasso (302) and is located to the left of the second lasso (302); the second lasso (302) is connected to the first lasso (301) and the third lasso (303), is located between the first lasso (301) and the third lasso (303), and is used for the fitting of the antenna whiskers; the third lasso (303) is connected to the second lasso (302) and is located to the right of the second lasso (302), and is used for the fitting of the antenna whiskers.

5. An implantable flexible electrode and electromyogram signal acquisition system for a life robot according to claim 4, characterized in that: The first lasso (301) includes a first lasso connecting arc (301a) and a first lasso ring (301b); the second lasso (302) includes a second lasso connecting arc (302a) and a second lasso ring (302b); the third lasso (303) includes a third lasso connecting arc (303a) and a third lasso ring (303b); wherein the first lasso connecting arc (301a), the first lasso ring (301b), the second lasso connecting arc (302a), the second lasso ring (302b), the third lasso connecting arc (303a), and the third lasso ring (303b) are sequentially connected and fixed.

6. The implantable flexible electrode and electromyogram signal acquisition system for a life robot according to claim 1, characterized in that: The fishhook structure (4) includes a fishhook rod (401), a fishhook arc (402), and a fishhook tip (403); one end of the fishhook arc (402) is connected to the fishhook rod (401) and the other end is connected to the fishhook tip (403).

7. An implantable flexible electrode and electromyogram signal acquisition system for a living mechanical body according to claim 1, characterized in that: The raised needle tip structure (5) includes a needle tip handle (501), a needle tip protrusion (502), and a needle tip (503); the needle tip handles (501) are connected through the needle tip protrusion (502).

8. The electromyogram signal acquisition system of an implantable flexible electrode and an electromyogram signal acquisition system for a living mechanical body according to claim 1, characterized in that: The electromyogram signal acquisition system includes a host computer, a main machine, and a slave machine; the host computer is connected to the main machine through a wired USB for data transmission between the host computer and the main machine; the main machine is connected to the slave machine through wireless Bluetooth communication for communication between the main machine and the slave machine; the slave machine is connected to a living body through an implantable flexible electrode for transmitting an electrical stimulation signal; the living body consists of a stimulation site and a collection site; the stimulation site is unidirectionally connected to a Bluetooth microcontroller II through a stimulation electrode and an electrical stimulator for controlling the turning action of the living body; the collection site is unidirectionally connected to the Bluetooth microcontroller II through a collection electrode and a signal conditioning circuit for collecting the muscle signal of the living body.

9. The electromyogram signal acquisition system of an implantable flexible electrode and an electromyogram signal acquisition system for a living machine body according to claim 8, characterized in that: The electromyogram signal acquisition system includes a host computer, a main machine, and a slave machine. The host computer is connected to the main machine through a wired USB for data transmission between the host computer and the main machine. The main machine is connected to the slave machine through wireless Bluetooth communication for communication between the main machine and the slave machine. The slave machine is connected to the organism through an implantable flexible electrode for transmitting electrical stimulation signals. The organism consists of a stimulation site and a collection site. The stimulation site is unidirectionally connected to a Bluetooth microcontroller II through a stimulation electrode and an electrical stimulator for controlling the turning action of the organism. The collection site is unidirectionally connected to the Bluetooth microcontroller II through a collection electrode and a signal conditioning circuit for collecting the muscle signals of the organism. The slave machine consists of a Bluetooth microcontroller II, a power supply, a voltage regulator module II, a crystal oscillator circuit, a reset circuit, a programming interface, a signal conditioning circuit, a radio frequency module II, and an antenna II. The power supply is unidirectionally connected to the voltage regulator module II for supplying power to the entire slave machine system. The voltage regulator module II is unidirectionally connected to the Bluetooth microcontroller II and the signal conditioning circuit for supplying power to the Bluetooth microcontroller II and the signal conditioning circuit. The crystal oscillator circuit is unidirectionally connected to the Bluetooth microcontroller II for providing the main clock. The reset circuit is unidirectionally connected to the Bluetooth microcontroller II for resetting in case of a fault. The programming interface is unidirectionally connected to the Bluetooth microcontroller II for programming the Bluetooth microcontroller II. The signal conditioning circuit is unidirectionally connected to the Bluetooth microcontroller II for collecting muscle signals. The radio frequency module II is bidirectionally connected to the Bluetooth microcontroller II. The radio frequency module II is bidirectionally connected to the antenna II. The antenna II is bidirectionally connected to the antenna I for receiving the instructions sent from the main machine to the slave machine and forwarding the data sent from the slave machine to the main machine. The main machine consists of a Bluetooth microcontroller I, a USB module, a voltage regulator module I, a temperature and humidity module, a display module, a radio frequency module I, and an antenna I. The USB module is bidirectionally connected to the VISA serial port communication in a wired manner for supplying power to the main machine and sending the data from the main machine to the host computer and receiving the instructions from the host computer to the main machine. The USB module is unidirectionally connected to the voltage regulator module I for supplying power to the voltage regulator module I. The voltage regulator module I is unidirectionally connected to the Bluetooth microcontroller I, the temperature and humidity module, and the display module for supplying power to the Bluetooth microcontroller I, the temperature and humidity module, and the display module. The USB module is bidirectionally connected to the Bluetooth microcontroller I for forwarding the data transmitted by the Bluetooth microcontroller I to the VISA serial port communication and forwarding the instructions transmitted by the VISA serial port communication to the Bluetooth microcontroller I. The radio frequency module I is bidirectionally connected to the Bluetooth microcontroller I. The radio frequency module I is bidirectionally connected to the antenna I. The antenna I is bidirectionally connected to the antenna II for receiving the data sent from the slave machine to the main machine and forwarding the instructions sent from the main machine to the slave machine.

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