An electrode implantation force estimation method, estimation device, apparatus and medium

Abstract

This invention discloses a method, device, equipment, and medium for estimating electrode implantation force. The implantation method first obtains the three-phase current and motor speed of the drive motor. Then, based on the three-phase current and motor speed, it determines the tangential frictional force on the edge of the drive wheel near the flexible electrode to be implanted. Finally, based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential frictional force, the tangential frictional force is estimated as the implantation force corresponding to the flexible electrode to be implanted. Using this method, by analyzing the force on the edge of the drive wheel near the flexible electrode to be implanted, and using the tangential frictional force as an indirect calculation, the corresponding implantation force of the flexible electrode to be implanted can be estimated based solely on the motor current and motor speed. This eliminates the need for additional sensor hardware and changes in the overall size of the equipment, effectively reducing mechanical design complexity and saving overall structural design space.

Description

Technical Field

[0001] The present invention relates to the field of cochlear implantation technology, and in particular to a method, device, equipment and medium for estimating electrode implantation force. Background Technology

[0002] Cochlear implant technology uses a cochlea as a treatment for severe to total deafness. A cochlear implant is an electronic bionic device developed based on the physiological principles of the cochlea. It is a high-tech product combining audiology, medicine, biomedicine, microelectronics, materials science, and mechanics. A cochlear implant can replace damaged auditory organs. An external speech processor converts sound into a coded electrical signal, which is then transmitted to the cochlea. Flexible electrodes implanted in the patient stimulate the auditory nerve fibers, directly exciting the auditory nerve to restore or rebuild hearing function. Cochlear implants are a significant achievement of modern medicine. For mild to moderate hearing loss, hearing aids can provide good compensation, while for severe or profound hearing loss, cochlear implantation is internationally recognized as the only effective device to restore hearing for patients with bilateral severe or profound sensorineural hearing loss. In recent years, with the development of electronic technology, computer technology, phonetics, electrophysiology, materials science, and otomicrosurgery, cochlear implants have moved from experimental research to clinical application.

[0003] In the prior art, flexible electrodes are implanted into special tissue channels (such as the cochlear structure) in the patient's body. During this process, the implantation force corresponding to the flexible electrode will change direction after entering the special tissue channel. Since the special tissue channel is very small and easily damaged or even has irreversible effects, traditional force measuring devices cannot measure the implantation force in such a small space of the special tissue channel. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for estimating electrode implantation force. It does not require additional sensor hardware or an increase in the overall size of the device. The implantation force corresponding to the flexible electrode to be implanted can be estimated based solely on the motor current and motor speed.

[0005] In a first aspect, embodiments of the present invention provide a method for estimating electrode implantation force, which is applied in a cochlear implantation device. The cochlear implantation device includes a drive motor, a drive wheel, and a passive wheel. The output end of the drive motor is connected to the drive wheel via a drive shaft. The flexible electrode to be implanted is clamped between the drive wheel and the passive wheel. The drive motor is used to drive the drive wheel and drive the passive wheel to rotate, so that the flexible electrode to be implanted is implanted under the rotation of the drive wheel and the passive wheel.

[0006] The estimation method includes:

[0007] Obtain the three-phase current and motor speed of the drive motor;

[0008] Based on the three-phase current and speed of the drive motor, the tangential frictional force of the edge of the drive wheel near the flexible electrode to be implanted on the flexible electrode to be implanted is determined.

[0009] Based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force, the tangential friction force is estimated as the implantation force corresponding to the flexible electrode to be implanted.

[0010] Optionally, the tangential frictional force of the edge of the drive wheel near the flexible electrode to be implanted is determined based on the three-phase current and speed of the drive motor, including:

[0011] According to the calculation formula The tangential friction force was determined. Wherein, I represents the three-phase current of the drive motor, and n represents the motor speed of the drive motor. This indicates the motor attribute calibration compensation coefficient.

[0012] Optionally, before determining the tangential frictional force of the edge of the drive wheel near the flexible electrode to be implanted on the flexible electrode based on the three-phase current and speed of the drive motor, the method further includes:

[0013] Based on the three-phase current of the drive motor, the Q-direction component current of the drive motor is determined; wherein, the Q-direction component current is the current component of the three-phase current of the motor that is perpendicular to the magnetic field of the motor rotor.

[0014] Based on the three-phase current and motor speed of the drive motor, the tangential frictional force of the edge of the drive wheel near the flexible electrode to be implanted on the flexible electrode to be implanted is determined, including:

[0015] The tangential friction force is determined based on the Q-direction current of the drive motor and the motor speed.

[0016] Optionally, according to the calculation formula The tangential friction force was determined. Previously, it also included:

[0017] Obtain the preset mapping relationship between the motor attribute calibration compensation coefficient value and the motor speed;

[0018] Based on the preset mapping relationship, the value of the motor attribute calibration compensation coefficient corresponding to the current motor speed is determined.

[0019] Optionally, the preset mapping relationship between the motor attribute calibration compensation coefficient value and the motor speed is obtained, including:

[0020] Within a preset motor speed range, multiple test values ​​of the motor speed are selected, and flexible electrode simulation implantation tests are conducted respectively to determine the value of the motor attribute calibration compensation coefficient corresponding to each test value of the motor speed.

[0021] The preset mapping relationship is obtained by performing function fitting on the various test values ​​of the motor speed and the corresponding values ​​of the motor attribute calibration compensation coefficient.

[0022] Optionally, the flexible electrode simulation implantation test involves attaching one end of the flexible electrode to be implanted to an electronic scale, and moving it toward the electronic scale via an electric lifting platform according to the test value of the motor speed, so that the other end of the flexible electrode to be implanted is implanted under the displacement of the electric lifting platform; wherein, the stable reading of the electronic scale during the implantation process is related to the value of the motor attribute calibration compensation coefficient corresponding to the test value of the motor speed.

[0023] Optionally, according to the calculation formula The tangential friction force was determined. Previously, it also included:

[0024] According to the calculation formula The motor attribute calibration compensation coefficient is determined. The value of is: where R represents the motor resistance of the drive motor, r represents the radius of the drive wheel, and k represents the system engineering calibration compensation coefficient.

[0025] Secondly, embodiments of the present invention also provide an electrode implantation force estimation device, which is applied in a cochlear implantation device. The cochlear implantation device includes a drive motor, a drive wheel, and a passive wheel. The output end of the drive motor is connected to the drive wheel through a drive shaft. The flexible electrode to be implanted is clamped between the drive wheel and the passive wheel. The drive motor is used to drive the drive wheel and drive the passive wheel to rotate, so that the flexible electrode to be implanted is implanted under the rotation of the drive wheel and the passive wheel.

[0026] The estimation device includes:

[0027] The data acquisition module is used to acquire the three-phase current and motor speed of the drive motor;

[0028] The friction force determination module is used to determine the tangential friction force of the edge of the drive wheel near the flexible electrode to be implanted on the flexible electrode to be implanted based on the three-phase current and motor speed of the drive motor.

[0029] The implantation force estimation module is used to estimate the tangential friction force as the implantation force corresponding to the flexible electrode to be implanted, based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force.

[0030] Thirdly, embodiments of the present invention also provide a terminal device, including:

[0031] One or more processors;

[0032] Storage device for storing one or more programs;

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement the electrode implantation force estimation method as described in any of the first aspects.

[0034] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the electrode implantation force estimation method as described in any of the first aspects.

[0035] This invention provides a method, device, equipment, and medium for estimating electrode implantation force. The implantation method first obtains the three-phase current and motor speed of the drive motor. Then, based on the three-phase current and motor speed, it determines the tangential frictional force on the edge of the drive wheel near the flexible electrode to be implanted. Finally, based on the principle that the implantation force corresponding to the flexible electrode is equal to the tangential frictional force, the tangential frictional force is estimated as the implantation force corresponding to the flexible electrode. Using this method, by analyzing the force on the edge of the drive wheel near the flexible electrode, and using the tangential frictional force as an indirect calculation, the corresponding implantation force can be estimated based solely on the motor current and motor speed. This eliminates the need for additional sensor hardware and a larger overall device size, effectively reducing mechanical design complexity and saving overall structural design space. The engineering-oriented calculations, analysis, and parameter calibration are also closer to the actual implantation process, exhibiting strong anti-interference capabilities and being less susceptible to external environmental conditions. Furthermore, accurate estimation of the implantation force corresponding to the flexible electrode to be implanted can improve the safety and postoperative effect of cochlear implantation surgery, provide key quantitative basis for surgical planning, flexible electrode design optimization and postoperative evaluation, provide good protection for the user's cochlear structure, and avoid serious complications such as tearing of the cochlear inner membrane and displacement of the basilar membrane due to excessive implantation force. The estimated implantation force data can also help doctors predict the resistance changes during the implantation process, such as adjusting the angle and force when passing through the narrow cochlear segment, guiding the surgical operation, reducing surgical risks, and enabling personalized surgical guidance for individual differences in cochlear size and shape among different patients.

[0036] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the overall structure of a cochlear implantation device provided in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the implantation process of a cochlear implantation device provided in an embodiment of the present invention;

[0040] Figure 3 This is a flowchart illustrating a method for estimating electrode implantation force according to an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the force analysis between the edge of the drive wheel near the flexible electrode to be implanted and the flexible electrode to be implanted, provided by an embodiment of the present invention;

[0042] Figure 5 This is a flowchart illustrating another method for estimating electrode implantation force provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of a flexible electrode simulation implantation experiment provided by an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of an electrode implantation force estimation device provided in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] This invention provides a method for estimating electrode implantation force, which is applied to cochlear implantation devices. Figure 1 This is a schematic diagram of the overall structure of a cochlear implant device provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the implantation process of a cochlear implantation device provided in an embodiment of the present invention, as shown below. Figure 1 and Figure 2 As shown, the cochlear implant device includes a drive motor 11, a drive wheel 12, and a passive wheel 13. The output end of the drive motor 11 is connected to the drive wheel 12 via a drive shaft 14. The flexible electrode 15 to be implanted is clamped between the drive wheel 12 and the passive wheel 13. The drive motor 11 is used to drive the drive wheel 12 and drive the passive wheel 13 to rotate, so that the flexible electrode 15 to be implanted is implanted under the rotation of the drive wheel 12 and the passive wheel 13. Figure 3 This is a flowchart illustrating an electrode implantation force estimation method provided by an embodiment of the present invention. This method is applicable to estimating the implantation force corresponding to the flexible electrode when using a roller-type cochlear implantation device. The method can be executed by an electrode implantation force estimation device, which can be implemented in hardware and / or software and can be configured in a control board. Figure 3 As shown, the estimation method includes:

[0049] S110: Obtain the three-phase current and speed of the drive motor.

[0050] First, a brief introduction to the structure of cochlear implant devices will be given. (Continue reading...) Figure 1 and Figure 2 The cochlear implant device involved in this embodiment may include, but is not limited to, a roller-type cochlear implant device. This cochlear implant device includes a drive motor 11, a drive wheel 12, and a passive wheel 13. Exemplarily, the drive motor 11 can be an ultra-low speed motor or a low-inductance motor. One end of the drive motor 11 is connected via a drive shaft 14 to the drive wheel 12, which drives the flexible electrode 15 to be implanted into a special tissue channel (e.g., the cochlear structure) of the patient. That is, the drive wheel 12 can be connected to the output end of the drive motor 11 via the drive shaft 14. The outer edge of the drive wheel 12 is made of rubber material with sufficiently high friction. The passive wheel 13 can be understood as a small wheel fixed on a bearing, capable of flexibly rotating around an axis, with sufficiently high surface friction, and the rolling friction of the bearing is very small, insufficient to cause a significant change in the motor current. The flexible electrode 15 to be implanted is located between the drive wheel 12 and the passive wheel 13. The clamping force between the drive wheel 12 and the passive wheel 13 can be ensured by a torsion spring or other device to reliably clamp the flexible electrode 15 to be implanted. For example… Figure 2 The flexible electrode 15 to be implanted can be clamped between the drive wheel 12 and the passive wheel 13, and there is a sufficiently large frictional force between the drive wheel 12 and the flexible electrode 15 to be implanted, so that the flexible electrode 15 to be implanted can be implanted into a special tissue channel (such as the cochlear structure).

[0051] Specifically, the cochlear implant device also includes a motor driver ( Figure 1 and Figure 2 (Not shown in the diagram) The motor driver can be located near and electrically connected to the drive motor 11. The position of the motor driver can be set according to actual needs, and no specific example is given in this embodiment. The motor driver can control the operation of the drive motor 11. Through the motor driver, the three-phase current and motor speed of the drive motor 11 can be obtained. Among them, the three-phase current of the motor is a key parameter reflecting the motor load status, power output, and whether there are any abnormalities (such as overcurrent or phase loss). The motor speed is a core indicator of the motor's operating status and a key parameter reflecting the motor's output speed and load matching degree.

[0052] In other embodiments, a Hall current sensor, based on the Hall effect, can be used to detect the three-phase current of the drive motor 11. Hall current sensors are characterized by high measurement accuracy, fast response, and the ability to measure DC, AC, or pulse currents, making them suitable for high-frequency or rapidly changing current scenarios. Alternatively, a current transformer, based on the principle of electromagnetic induction, can be used to detect the three-phase current of the drive motor 11. Current transformers are characterized by low cost, simple structure, and the ability to measure AC current. In other embodiments, a Hall encoder can be used to detect the motor speed of the drive motor 11, generating pulses through changes in the magnetic field. Hall encoders are characterized by low cost and simple structure. A photoelectric encoder can also be used to detect the motor speed of the drive motor 11, counting the pulse signals that block / transmit light during rotation. Photoelectric encoders are characterized by high measurement accuracy. Finally, a magnetoelectric encoder can be used to detect the motor speed of the drive motor 11, based on the magnetoresistive effect. Magnetoelectric encoders are characterized by strong resistance to oil and dust.

[0053] S120. Based on the three-phase current and speed of the drive motor, determine the tangential friction force of the drive wheel near the edge of the flexible electrode to be implanted.

[0054] Specifically, please refer to Figure 1 and Figure 2 During the process of implanting the flexible electrode 15 into the special tissue channel, the implantation force F changes direction after entering the special tissue channel, decomposing into components f1, f2, f3...fn as shown in the figure. That is, the implantation force F cannot be directly measured. However, by deriving the output force transmission path and mechanical balance relationship of the drive motor 11, the relevant electrical parameters of the drive motor 11 can be converted into mechanical force analysis. For example, the tangential friction force of the drive wheel 12 near the edge of the flexible electrode 15 to be implanted. This is to facilitate subsequent calculations based on the determined tangential friction force. This indirectly determines the implantation force F corresponding to the flexible electrode 15 to be implanted.

[0055] S130. Based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force, the tangential friction force is estimated as the implantation force corresponding to the flexible electrode to be implanted.

[0056] Specifically, Figure 4 This is a schematic diagram illustrating the force analysis between the edge of the drive wheel near the flexible electrode to be implanted and the flexible electrode to be implanted, provided by an embodiment of the present invention. Figure 1 , Figure 2 and Figure 4As shown, during the process of implanting the flexible electrode 15 into the special tissue channel, it is ensured that the flexible electrode 15 moves at a uniform speed and is under force balance. The weight of the flexible electrode 15 is very small, and its downward gravity can be ignored. According to the principle of force balance and transmission, the upward tangential frictional force... The interaction force between the downward implantation force F and the tangential frictional force between the flexible electrode 15 to be implanted and the drive wheel 12 can be considered as an interaction force. The estimated implantation force F corresponding to the flexible electrode 15 to be implanted is, that is, the tangential frictional force of the flexible electrode 15 to be implanted regardless of its positional changes within the special tissue channel. This can directly represent the implantation force F, and this force is independent of the passive wheel 13. In a more easily understood way, during the implantation of the flexible electrode 15 into a special tissue channel, the drive wheel 12 can utilize this tangential frictional force. The flexible electrode 15 to be implanted is moved forward. At the same time, the flexible electrode 15 to be implanted will be subject to the resistance of the internal tissue of the special tissue channel, that is, the implantation force F. When the flexible electrode 15 to be implanted is implanted at a constant speed, the force balance is satisfied.

[0057] Understandably, during the implantation of the flexible electrode 15 into a special tissue channel, it is nearly impossible to directly install a force sensor inside the narrow channel to measure the implantation force F, as this would interfere with the implantation process and increase the risk of injury. In this embodiment, the tangential friction force is determined... Indirect measurement of the implantation force F allows for real-time acquisition of F data without contact with the flexible electrode 15 to be implanted or the special tissue channel. The estimated implantation force F can also provide a quantitative basis for surgical safety control. For example, a safe threshold for the implantation force can be set based on clinical experience (exceeding a certain value may cause damage to the internal tissues of the special tissue channel). By monitoring the three-phase current and motor speed in real time, it is also possible to estimate whether the implantation force F is exceeding the limit. Then, by controlling the output of the drive motor 11 (such as reducing the speed or torque), the implantation force can be adjusted to achieve closed-loop safety control, providing patients with a better surgical experience and postoperative recovery.

[0058] The technical solution in this invention analyzes the force on the drive wheel near the edge of the flexible electrode to be implanted, using tangential friction as an indirect calculation. The implantation force corresponding to the flexible electrode can be estimated based solely on the motor current and speed, eliminating the need for additional sensor hardware and a larger overall device size. This effectively reduces mechanical design complexity and saves overall structural design space. The engineered calculations, analysis, and parameter calibration are closer to the actual implantation process, exhibiting strong anti-interference capabilities and being less susceptible to external environmental conditions. Furthermore, the accurate estimation of the implantation force corresponding to the flexible electrode can improve the safety and postoperative outcome of cochlear implantation surgery. It provides crucial quantitative data for surgical planning, flexible electrode design optimization, and postoperative evaluation, offering excellent protection for the user's cochlear structure and preventing serious complications such as tearing of the cochlear membrane and displacement of the basilar membrane due to excessive implantation force. The estimated implantation force data also helps doctors predict resistance changes during implantation, such as adjusting the angle and force when passing through the narrow cochlear segment, guiding surgical operations, reducing surgical risks, and enabling personalized surgical guidance for individual differences in cochlear size and shape among different patients.

[0059] Optionally, before determining the tangential frictional force on the edge of the drive wheel near the flexible electrode to be implanted based on the three-phase current and motor speed of the drive motor, the method further includes: determining the Q-direction component current of the drive motor based on the three-phase current of the drive motor; wherein, the Q-direction component current is the current component of the three-phase current of the motor perpendicular to the magnetic field of the motor rotor; determining the tangential frictional force on the edge of the drive wheel near the flexible electrode to be implanted based on the three-phase current and motor speed of the drive motor includes: determining the tangential frictional force based on the Q-direction component current and motor speed of the drive motor.

[0060] The three-phase current of the motor includes a current component perpendicular to the rotor magnetic field (i.e., the Q-axis current) and a current component parallel to the rotor magnetic field (i.e., the D-axis current). For details, please refer to [reference needed]. Figure 1 and Figure 2 Through this motor driver and a special FOC (Field-Oriented Control) algorithm, the Q-direction current of the drive motor 11 can be accurately fed back, and the D-direction current can be designed to be 0. The core of the FOC control algorithm lies in the electromagnetic field direction control of the drive motor 11. The motor torque of the drive motor 11 is proportional to the vector product of the stator magnetic field vector and the rotor magnetic field vector. To maintain maximum motor torque, the stator magnetic field vector should be perpendicular to the rotor magnetic field vector. The key to the FOC control algorithm is to control the magnitude and direction of the three-phase current of the motor to generate a stator magnetic field perpendicular to the rotor magnetic field. That is, by controlling the D-direction current to be 0, the obtained three-phase current of the motor is the Q-direction current.

[0061] Figure 5 This is a flowchart illustrating another method for estimating electrode implantation force provided by an embodiment of the present invention. This embodiment is an optimization based on the above embodiment. Optionally, the tangential frictional force of the drive wheel near the edge of the flexible electrode to be implanted is determined based on the three-phase current and motor speed of the drive motor, including:

[0062] According to the calculation formula Determine the tangential friction force Where I represents the three-phase current of the drive motor, and n represents the speed of the drive motor. This indicates the motor attribute calibration compensation coefficient.

[0063] For details not covered in this embodiment, please refer to the above embodiments. Figure 5 As shown, the estimation method includes:

[0064] S210: Obtain the three-phase current and speed of the drive motor.

[0065] S220, According to the calculation formula Determine the tangential friction force Where I represents the three-phase current of the drive motor, and n represents the speed of the drive motor. This indicates the motor attribute calibration compensation coefficient.

[0066] Specifically, please refer to Figure 1 , Figure 2 and Figure 4 The tangential friction force of the drive wheel 12 near the edge of the flexible electrode 15 to be implanted. Based on the relationship between force and torque, tangential friction force ,in, The value represents the output torque of the drive motor 11, and r represents the radius of action of the drive motor 11, which is also the radius of the drive wheel 12.

[0067] Furthermore, based on the relationship between motor torque, speed, and power, the output torque of drive motor 11 is determined. Where P represents the motor power of drive motor 11, and n represents the motor speed of drive motor 11. According to the relationship between motor power, voltage, and current, the motor power of drive motor 11 is P = U × E × I, where U represents the motor drive voltage of drive motor 11, E represents the back EMF of drive motor 11, and I represents the three-phase current of drive motor 11. It should be noted that the D-direction current can be controlled to 0 using the FOC control algorithm, and the obtained three-phase current is the Q-direction current; therefore, I can also represent the Q-direction current of drive motor 11. Furthermore, the drive motor 11 mentioned in this embodiment is an ultra-low speed motor, and the back EMF E can be understood as approximately equal to 0, avoiding the influence of the back EMF E. Therefore, P = U × I = Where I represents the Q-axis current of the drive motor 11, and R represents the motor resistance of the drive motor 11.

[0068] Thus, the tangential friction force can be obtained through the above formula derivation process. It can be calculated according to the formula. Determine the motor attribute calibration compensation coefficient The value of is given by ; where R represents the motor resistance of the drive motor, r represents the radius of the drive wheel, and k represents the system engineering calibration compensation coefficient. It should be noted that the three-phase current and speed of the drive motor can be obtained from the motor starter. The motor resistance and radius of the drive wheel are known quantities. However, due to the estimated value of 9550, the approximate value of the back EMF E, and the selection of the Q-direction current component, an additional system engineering calibration compensation coefficient k needs to be set to ensure the calculated tangential friction force. The values ​​obtained are more consistent with actual usage environments. This allows for the calibration and compensation of motor properties obtained through engineering methods. It can be used positively as motor current and tangential friction force. The constant used in the conversion between the three parameters—motor current, driving force F, and speed—can also be used indirectly as a constant in the conversion between these parameters. This motor attribute calibration compensation coefficient... Including but not limited to motor attributes.

[0069] Optionally, according to the calculation formula Determine the tangential friction force Previously, it also included: obtaining the preset mapping relationship between the motor attribute calibration compensation coefficient value and the motor speed; and determining the value of the motor attribute calibration compensation coefficient corresponding to the current motor speed based on the preset mapping relationship.

[0070] Specifically, during the implantation of the flexible electrode 15 into a special tissue channel, the motor attribute calibration compensation coefficient is used for implantation processes with different motor speeds. It is not a fixed constant. Furthermore, during the process of implanting the same motor speed, the motor attribute calibration compensation coefficient was repeatedly found to be incorrect. It is a fixed constant. That is, the motor attribute calibration compensation coefficient. There is a preset mapping relationship between the value and the motor speed n. For a given motor speed n, a corresponding motor attribute calibration compensation coefficient can be determined. Therefore, by establishing a preset mapping relationship between the motor attribute calibration compensation coefficient and the motor speed, the corresponding motor attribute calibration compensation coefficient can be found by first obtaining the value of the motor speed n. The value of this will be discussed later in the section on the calibration compensation coefficient for this motor attribute. Substituting the value of into the above as a constant The calculation formula is used to facilitate the rapid calculation of tangential friction force later. Then, the implantation force F corresponding to the flexible electrode 15 to be implanted is estimated.

[0071] Optionally, obtaining the preset mapping relationship between the motor attribute calibration compensation coefficient and the motor speed includes: selecting multiple test values ​​of the motor speed within a preset motor speed range, and conducting flexible electrode simulation implantation tests respectively to determine the values ​​of the motor attribute calibration compensation coefficients corresponding to each test value of the motor speed; performing function fitting processing on each test value of the motor speed and the corresponding values ​​of the motor attribute calibration compensation coefficients to obtain the preset mapping relationship.

[0072] Specifically, based on the rotational speed step value during actual use, multiple measurements are performed, and the above calculation formula is applied. The motor attribute calibration compensation coefficient is calculated in reverse. After determining the value of F, the implantation force F under different motor speeds and three-phase currents is fitted. Once the fitting function is obtained, the motor attribute calibration compensation coefficient corresponding to any motor speed can be determined. This achieves motor attribute calibration compensation coefficients across the entire time domain. The values ​​are obtained. Table 1 is a schematic table of data that needs to be collected in a flexible electrode simulation implantation test provided by the embodiment of the present invention. As shown in Table 1, the total implantation length of the flexible electrode 15 to be implanted in each flexible electrode simulation implantation test is taken as 3cm. For a given motor speed n, the Q component current corresponding to the three-phase current I of the motor can be obtained by the motor driver. The implantation force F corresponding to the flexible electrode 15 to be implanted can be displayed in the flexible electrode simulation implantation test. According to the above calculation formula The motor attribute calibration compensation coefficient can be derived by reverse derivation. The value of the compensation coefficient for motor attribute calibration was determined through multiple tests. The correctness of the value taken.

[0073] Table 1

[0074]

[0075] Optionally, the flexible electrode simulation implantation test involves attaching one end of the flexible electrode to be implanted to an electronic scale, and moving an electric lifting platform toward the electronic scale according to the test value of the motor speed, so that the other end of the flexible electrode to be implanted is implanted under the displacement of the electric lifting platform; wherein, the stable reading of the electronic scale during the implantation process is related to the value of the motor attribute calibration compensation coefficient corresponding to the test value of the motor speed.

[0076] Specifically, Figure 6 This is a schematic diagram of a flexible electrode simulation implantation experiment provided by an embodiment of the present invention, as shown below. Figure 6 As shown, this flexible electrode simulation implantation experiment essentially uses the driving / lifting movement of an electric lifting platform 21 to complete the implantation process of the flexible electrode 15 to be implanted, replacing the aforementioned cochlear implantation device. One end of the flexible electrode 15 to be implanted is attached to an electronic scale 22, which can be understood as being placed upside down. A simulation model with a special tissue channel is set between the electronic scale 22 and the electric lifting platform 21. The electric lifting platform 21 moves towards the electronic scale 22 according to the test value of the motor speed, so that the other end of the flexible electrode 15 to be implanted is implanted under the displacement of the electric lifting platform 21. During the implantation process of the flexible electrode 15 to be implanted, the reading on the electronic scale 22 will change. In one specific embodiment, the stable reading of the electronic scale 22 during the implantation process can be the magnitude of the implantation force F. At this time, the implantation force F, the motor speed n, and the three-phase current I of the motor are all known quantities, and the calculation is performed according to the above formula. The motor attribute calibration compensation coefficient can be derived by reverse derivation. The value of .

[0077] S230. Based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force, the tangential friction force is estimated as the implantation force corresponding to the flexible electrode to be implanted.

[0078] This invention also provides an electrode implantation force estimation device, which is applied in cochlear implantation devices. (Continuing to refer to...) Figure 1 and Figure 2The cochlear implant device includes a drive motor 11, a drive wheel 12, and a passive wheel 13. The output end of the drive motor 11 is connected to the drive wheel 12 via a drive shaft 14. The flexible electrode 15 to be implanted is clamped between the drive wheel 12 and the passive wheel 13. The drive motor 11 is used to drive the drive wheel 12 and drive the passive wheel 13 to rotate, so that the flexible electrode 15 to be implanted is implanted under the rotation of the drive wheel 12 and the passive wheel 13. Figure 7 This is a schematic diagram of an electrode implantation force estimation device provided in an embodiment of the present invention. This device is applicable to estimating the implantation force corresponding to the flexible electrode when using a roller-type cochlear implantation device. The device can be implemented in hardware and / or software and is generally configured in a control board. Figure 7 As shown, the estimation device includes:

[0079] The data acquisition module 310 is used to acquire the three-phase current and motor speed of the drive motor; the friction force determination module 320 is used to determine the tangential friction force of the drive wheel near the flexible electrode to be implanted based on the three-phase current and motor speed of the drive motor; the implantation force estimation module 330 is used to estimate the tangential friction force as the implantation force of the flexible electrode to be implanted based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force.

[0080] The technical solution in this invention analyzes the force on the drive wheel near the edge of the flexible electrode to be implanted, using tangential friction as an indirect calculation. The implantation force corresponding to the flexible electrode can be estimated based solely on the motor current and speed, eliminating the need for additional sensor hardware and a larger overall device size. This effectively reduces mechanical design complexity and saves overall structural design space. The engineered calculations, analysis, and parameter calibration are closer to the actual implantation process, exhibiting strong anti-interference capabilities and being less susceptible to external environmental conditions. Furthermore, the accurate estimation of the implantation force corresponding to the flexible electrode can improve the safety and postoperative outcome of cochlear implantation surgery. It provides crucial quantitative data for surgical planning, flexible electrode design optimization, and postoperative evaluation, offering excellent protection for the user's cochlear structure and preventing serious complications such as tearing of the cochlear membrane and displacement of the basilar membrane due to excessive implantation force. The estimated implantation force data also helps doctors predict resistance changes during implantation, such as adjusting the angle and force when passing through the narrow cochlear segment, guiding surgical operations, reducing surgical risks, and enabling personalized surgical guidance for individual differences in cochlear size and shape among different patients.

[0081] Based on the above technical solution, optionally, the friction force determination module 320 may specifically include a first friction force determination unit, which is used to determine the friction force according to the calculation formula. Determine the tangential friction force Where I represents the three-phase current of the drive motor, and n represents the speed of the drive motor. This indicates the motor attribute calibration compensation coefficient.

[0082] Optionally, the estimation module further includes a current component determination module, which is used to determine the Q-direction component current of the drive motor based on the three-phase current of the drive motor; wherein, the Q-direction component current is the current component of the three-phase current of the motor that is perpendicular to the magnetic field of the motor rotor; the friction force determination module 320 may specifically include a second friction force determination unit, which is used to determine the tangential friction force based on the Q-direction component current of the drive motor and the motor speed.

[0083] Optionally, the estimation module further includes a mapping relationship acquisition module and a first coefficient value determination module. The mapping relationship acquisition module is used to acquire a preset mapping relationship between the motor attribute calibration compensation coefficient value and the motor speed. The first coefficient value determination module is used to determine the value of the motor attribute calibration compensation coefficient corresponding to the current motor speed according to the preset mapping relationship.

[0084] Optionally, the mapping relationship acquisition module may specifically include a scatter point test unit and a function fitting unit. The scatter point test unit is used to select multiple test values ​​of motor speed within a preset motor speed range and conduct flexible electrode simulation implantation tests respectively to determine the values ​​of motor attribute calibration compensation coefficients corresponding to each test value of motor speed. The function fitting unit is used to perform function fitting processing on each test value of motor speed and the corresponding values ​​of motor attribute calibration compensation coefficients to obtain a preset mapping relationship.

[0085] Optionally, the flexible electrode simulation implantation test involves attaching one end of the flexible electrode to be implanted to an electronic scale, and moving an electric lifting platform toward the electronic scale according to the test value of the motor speed, so that the other end of the flexible electrode to be implanted is implanted under the displacement of the electric lifting platform; wherein, the stable reading of the electronic scale during the implantation process is related to the value of the motor attribute calibration compensation coefficient corresponding to the test value of the motor speed.

[0086] Optionally, the estimation module further includes a second coefficient value determination module, which is used to determine the value of the second coefficient based on the calculation formula. Determine the motor attribute calibration compensation coefficient The value of is: R represents the motor resistance of the drive motor, r represents the radius of the drive wheel, and k represents the system engineering calibration compensation coefficient.

[0087] The electrode implantation force estimation device provided in the embodiments of the present invention can execute the electrode implantation force estimation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0088] Figure 8 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present invention. The terminal device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0089] like Figure 8 As shown, the terminal device 100 includes one or more processors 110 and a storage device communicatively connected to the processors 110. The storage device may be a read-only memory (ROM) 120, a random access memory (RAM) 130, etc. The storage device stores computer programs executable by one or more processors. The processors 110 can perform various appropriate actions and processes based on the computer programs stored in the ROM 120 or loaded from storage unit 180 into the RAM 130. The RAM 130 may also store various programs and data required for the operation of the terminal device 100. The processors 110, ROM 120, and RAM 130 are interconnected via a bus 140. An input / output (I / O) interface 150 is also connected to the bus 140.

[0090] Multiple components in terminal device 100 are connected to I / O interface 150, including: input unit 160, such as keyboard, mouse, etc.; output unit 170, such as various types of displays, speakers, etc.; storage unit 180, such as disk, optical disk, etc.; and communication unit 190, such as network card, modem, wireless transceiver, etc. Communication unit 190 allows terminal device 100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0091] Processor 110 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 110 performs the various methods and processes described above, such as methods for estimating electrode implantation force.

[0092] In some embodiments, the electrode implantation force estimation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 180. In some embodiments, part or all of the computer program may be loaded and / or installed on terminal device 100 via ROM 120 and / or communication unit 190. When the computer program is loaded into RAM 130 and executed by processor 110, one or more steps of the electrode implantation force estimation method described above may be performed. Alternatively, in other embodiments, processor 110 may be configured to perform the electrode implantation force estimation method by any other suitable means (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on a terminal device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the terminal device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0097] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0098] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0099] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0100] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A device for estimating electrode implantation force, characterized in that, This cochlear implant device includes a drive motor, a drive wheel, and a passive wheel. The output end of the drive motor is connected to the drive wheel via a drive shaft. The flexible electrode to be implanted is clamped between the drive wheel and the passive wheel. The drive motor drives the drive wheel and rotates the passive wheel so that the flexible electrode to be implanted is implanted under the rotation of the drive wheel and the passive wheel. The estimation device includes: The data acquisition module is used to acquire the three-phase current and motor speed of the drive motor; The friction force determination module is used to determine the tangential friction force of the edge of the drive wheel near the flexible electrode to be implanted on the flexible electrode to be implanted based on the three-phase current and motor speed of the drive motor. An implantation force estimation module is used to estimate the tangential friction force as the implantation force corresponding to the flexible electrode to be implanted, based on the principle that the implantation force corresponding to the flexible electrode to be implanted is equal to the tangential friction force. The friction force determination module includes a first friction force determination unit, which is used to determine the friction force according to the calculation formula. The tangential friction force was determined. Wherein, I represents the three-phase current of the drive motor, and n represents the motor speed of the drive motor. This indicates the motor attribute calibration compensation coefficient.

2. The estimation device according to claim 1, characterized in that, The estimation device also includes a current component determination module; The current component determination module is used to determine the Q-direction component current of the drive motor based on the three-phase current of the drive motor; wherein, the Q-direction component current is the current component of the three-phase current of the motor that is perpendicular to the magnetic field of the motor rotor. The friction force determination module includes a second friction force determination unit, which is used to determine the tangential friction force based on the Q-direction component current of the drive motor and the motor speed.

3. The estimation device according to claim 1, characterized in that, The estimation module also includes a mapping relationship acquisition module and a first coefficient value determination module; The mapping relationship acquisition module is used to acquire the preset mapping relationship between the motor attribute calibration compensation coefficient value and the motor speed; The first coefficient value determination module is used to determine the value of the motor attribute calibration compensation coefficient corresponding to the current motor speed according to the preset mapping relationship.

4. The estimation device according to claim 3, characterized in that, The mapping relationship acquisition module includes a scatter point experiment unit and a function fitting unit; The dispersed point test unit is used to select multiple test values ​​of the motor speed within a preset motor speed range, and conduct flexible electrode simulation implantation tests respectively, so as to determine the value of the motor attribute calibration compensation coefficient corresponding to each test value of the motor speed. The function fitting unit is used to perform function fitting processing on each test value of the motor speed and the corresponding values ​​of the motor attribute calibration compensation coefficient to obtain the preset mapping relationship.

5. The estimation device according to claim 4, characterized in that, The flexible electrode simulation implantation test involves attaching one end of the flexible electrode to be implanted to an electronic scale, and moving it toward the electronic scale via an electric lifting platform according to the test value of the motor speed, so that the other end of the flexible electrode to be implanted is implanted under the displacement of the electric lifting platform; wherein, the stable reading of the electronic scale during the implantation process is related to the value of the motor attribute calibration compensation coefficient corresponding to the test value of the motor speed.

6. The estimation device according to claim 1, characterized in that, The estimation module also includes a second coefficient value determination module; The second coefficient value determination module is used to determine the value of the coefficient based on the calculation formula. The motor attribute calibration compensation coefficient is determined. The value of is: where R represents the motor resistance of the drive motor, r represents the radius of the drive wheel, and k represents the system engineering calibration compensation coefficient.

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