Control system based on flexible probe

Abstract

This disclosure provides a control system based on a flexible probe, which can be applied to the field of brain-computer interface technology. The control system includes: a flexible probe with at least one fluid channel inside, the flexible probe being used for stiffness adjustment and drug delivery based on the fluid channel; a pressure control device connected to the fluid channel of the flexible probe, used to apply pressure to the fluid channel to adjust the stiffness of the flexible probe or to deliver drugs based on the flexible probe; and a control unit used to generate control commands based on the neural electrical signals acquired by the flexible probe, the control commands being used to control the pressure control device.

Description

Technical Field

[0001] This disclosure relates to the field of brain-computer interface technology, and more specifically, to a control system based on a flexible probe. Background Technology

[0002] Flexible neural electrodes have attracted widespread attention due to their good compliance and excellent biocompatibility. However, their inherent low stiffness makes them difficult to implant independently, usually requiring the use of rigid tools or biodegradable support materials. This not only increases tissue damage during implantation but also triggers significant acute immune responses, thereby diminishing the advantages of flexible electrodes and severely limiting their application potential.

[0003] Meanwhile, closed-loop neural monitoring and modulation are crucial in neuroscience research, disease intervention, and brain-computer interfaces. Compared to electrical and optical stimulation methods, drug modulation requires no external power source or light source, avoids signal interference, and can achieve highly specific and precise modulation of neural networks through specific receptors or neurotransmitter systems.

[0004] However, current flexible microfluidic channels still have shortcomings in terms of processing precision, controllability of drug fluid delivery, and interface stability after implantation. Furthermore, existing drug delivery devices are bulky and difficult to integrate with electrodes. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] This disclosure provides a control system based on a flexible probe, which at least partially solves one of the above-mentioned technical problems.

[0007] (II) Technical Solution

[0008] According to a first aspect of this disclosure, a control system based on a flexible probe is provided, comprising: a flexible probe having at least one fluid channel disposed therein, the flexible probe being used for stiffness adjustment and drug delivery based on the fluid channel; a pressure control device connected to the fluid channel of the flexible probe for applying pressure to the fluid channel to adjust the stiffness of the flexible probe or to deliver drugs based on the flexible probe; and a control unit for generating control commands based on neural electrical signals acquired by the flexible probe, the control commands being used to control the pressure control device.

[0009] According to embodiments of this disclosure, the flexible probe includes: a flexible substrate layer having fluid channels disposed therein; a conductive layer disposed on the surface of the flexible substrate layer for acquiring neural electrical signals; and a flexible insulating layer disposed on the surface of the conductive layer, covering the area of ​​the conductive layer except for the electrode sites.

[0010] According to embodiments of this disclosure, the fluid channel is a reversible dynamic cavity constructed based on differences in interlayer adhesion forces; in response to the application of a first pressure to the fluid channel, the stiffness of the fluid channel increases to facilitate the implantation task; in response to the application of a second pressure to the fluid channel, the drug is delivered to the target location based on the fluid channel, wherein the first pressure is lower than the second pressure.

[0011] According to embodiments of this disclosure, the flexible probe further includes a micropore, which releases a drug within the fluid channel to a target location in response to a second pressure being applied to the fluid channel.

[0012] According to an embodiment of this disclosure, the control unit is connected to the conductive layer of the flexible probe and is used to receive neural electrical signals from the conductive layer; the control unit is used to analyze the received neural electrical signals to obtain the electrical signal characteristics of the neural electrical signals, and generate control commands based on the electrical signal characteristics, the control commands being used to control the pressure control device to regulate the pressure of the fluid channel.

[0013] According to embodiments of this disclosure, the control commands include a trigger command and a stop command. The trigger command instructs the pressure control device to apply a second pressure to the fluid channel, and the stop command instructs the pressure control device to stop applying the second pressure to the fluid channel. The electrical signal characteristics include normal electrical signal characteristics and abnormal electrical signal characteristics. In response to the electrical signal characteristics changing from normal to abnormal, the control module sends a trigger command to the pressure control device. In response to the electrical signal characteristics changing from abnormal to normal, the control module sends a stop command to the pressure control device.

[0014] According to embodiments of this disclosure, the neural electrical signals include at least one of cortical electroencephalography (EEG), local field potentials, and neuronal action potentials; the electrical signal characteristics include at least one of discharge frequency, discharge interval, discharge amplitude, and discharge waveform.

[0015] According to embodiments of this disclosure, the pressure control device includes at least one of a micro hydraulic pump, a micro solenoid valve, or a micro compressed gas source.

[0016] According to embodiments of this disclosure, in the case of reversible dynamic cavity injection fluid expansion, the height of the fluid channel ranges from 1 to 100 micrometers.

[0017] According to embodiments of this disclosure, a micropore is disposed at the front end of the flexible probe, and has a diameter of 1-20 micrometers.

[0018] (III) Beneficial Effects

[0019] The flexible probe-based control system disclosed herein has at least the following beneficial effects:

[0020] By employing a single fluid network and pressure control strategy, this system integrates two distinct functions: stiffness regulation and drug release. Pressure control switches the fluid channels, enabling time-division multiplexing of the flexible probe. In low-pressure mode, the stiffness of the flexible probe is increased to facilitate implantation. In high-pressure mode, drug is released from the probe tip. This approach avoids the increased size associated with complex multi-channel designs, simplifies the flexible probe structure, reduces implantation damage, and thus achieves long-term stable neuromodulation. Attached Figure Description

[0021] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram of a control system based on a flexible probe according to an embodiment of the present disclosure is shown.

[0023] Figure 2 A schematic diagram of a flexible probe according to an embodiment of the present disclosure is shown.

[0024] Figure 3 This schematic diagram illustrates the variation of the fluid channel under different pressures according to embodiments of the present disclosure;

[0025] Figure 4 The schematic diagram illustrates the state of a drug in a flexible probe under different pressure conditions according to embodiments of the present disclosure.

[0026] [Attached image labels]

[0027] 301 - Flexible substrate layer; 302 - Conductive layer; 303 - Flexible insulating layer. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0030] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0031] In the description of this disclosure, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the subsystem or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0032] Throughout the accompanying drawings, identical elements are represented by the same or similar reference numerals. Conventional structures or constructions have been omitted where they may cause confusion in understanding this disclosure. Furthermore, the shapes, dimensions, and positional relationships of the components in the drawings do not reflect actual size, scale, or actual positional relationships. Additionally, any reference numerals placed between parentheses in the claims should not be construed as limiting the claims.

[0033] Similarly, to simplify this disclosure and aid in understanding one or more of the various aspects of the disclosure, in the above description of exemplary embodiments of the present disclosure, various features of the present disclosure are sometimes grouped together in a single embodiment, figure, or description thereof. The use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present disclosure. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] This disclosure provides a control system based on a flexible probe, comprising: a flexible probe having at least one fluid channel inside, the flexible probe being used for stiffness adjustment and drug delivery based on the fluid channel; a pressure control device connected to the fluid channel of the flexible probe, used to apply pressure to the fluid channel to adjust the stiffness of the flexible probe or to deliver drugs based on the flexible probe; and a control unit used to generate control commands based on neural electrical signals acquired by the flexible probe, the control commands being used to control the pressure control device.

[0036] The flexible probe-based modulation system provided in this disclosure integrates two different functions—stiffness regulation and drug release—through a single fluid network and pressure control strategy. By switching the fluid channels under pressure control, the flexible probe can be reused in a time-sharing manner. In low-pressure mode, the stiffness of the flexible probe is increased to facilitate implantation. In high-pressure mode, the drug is released from the probe tip. This avoids the increased size associated with complex multi-channel designs, simplifies the flexible probe structure, reduces implantation damage, and thus achieves long-term stable neuromodulation.

[0037] Figure 1 A schematic diagram of a control system based on a flexible probe according to an embodiment of the present disclosure is shown.

[0038] like Figure 1 As shown, the control system includes a control unit, a pressure control device, and a flexible probe.

[0039] The flexible probe contains at least one fluid channel, which is a reversible dynamic cavity constructed based on the difference in interlayer adhesion forces. Different pressures can be applied to the fluid channel to meet different needs. For example, during the flexible probe implantation stage, the stiffness of the fluid channel is adjusted by applying a first pressure, thereby achieving implantation. During the treatment stage after implantation, a second pressure can be applied to the fluid channel to cause the flexible probe to release drugs, thus achieving drug delivery.

[0040] The pressure control device is connected to the fluid channel in the flexible probe to apply pressure to the fluid channel in order to adjust the stiffness of the flexible probe or to determine drug demand based on the flexible probe, so as to meet the different needs of different stages.

[0041] The control unit generates control commands based on neural electrical signals, which in turn control the pressure control device to apply corresponding pressure to the flexible probe. The neural electrical signals are acquired by the flexible probe and then sent to the control unit.

[0042] Figure 2 A schematic diagram of a flexible probe according to an embodiment of the present disclosure is shown.

[0043] like Figure 2 As shown, the flexible probe includes a flexible substrate layer 301, a conductive layer 302, and a flexible insulating layer 303.

[0044] In some embodiments, a fluid channel is provided inside the flexible substrate layer 301. The fluid channel is a reversible dynamic cavity constructed based on the difference in interlayer adhesion forces, and has the functions of drug delivery and deformation regulation. For example, the fluid channel can be connected to an external drug reservoir, and the precise release of the drug can be achieved by applying pressure through a pressure control device. The fluid channel can also be deformed and regulated by pressure changes, causing it to expand or contract, thereby achieving the stiffness adjustment of the flexible probe.

[0045] In some embodiments, in response to the pressure control device applying a first pressure to the fluid channel, the fluid within the fluid channel expands under pressure, generating a uniform radial force on the inner wall of the probe, thereby increasing the stiffness of the flexible probe to facilitate implantation. When the flexible probe is implanted into human tissue, increased stiffness reduces friction between the probe and the tissue, lowers insertion resistance, and prevents tissue damage due to excessive bending. In response to the pressure control device applying a second pressure to the fluid channel, causing the pressure within the fluid channel to exceed a critical value, the drug is released from the flexible probe to the target location.

[0046] This disclosure achieves time-division multiplexing by applying different pressures to the fluid channel, enabling switching between different functions, adjusting the stiffness of the flexible probe, or releasing drugs, thereby meeting the needs of different stages. This increases the functional versatility of the flexible probe while reducing its size and complexity.

[0047] A conductive layer 302 is disposed on the surface of the flexible substrate layer 301 for the acquisition and transmission of neural electrical signals. For example, the surface of the conductive layer 302 includes at least one electrode point, through which neuronal action potentials or local field potentials can be recorded, thereby achieving the acquisition of neural electrical signals. The conductive layer 302 is connected to a control unit, which can transmit the acquired neural electrical signals to the control unit via conductive lines. The control unit then analyzes the neural electrical signals and generates control commands based on the analysis results to adjust the probe state.

[0048] In some embodiments, the tip of the flexible probe is provided with a micropore for releasing a drug from the fluid channel to a target location under a second pressure. The diameter of the micropore can be 1-20 micrometers. For example, when the pressure applied to the fluid channel reaches a threshold, the drug is released from the micropore to deliver the drug to the target site.

[0049] Figure 3 The diagram illustrates the variation of the fluid passage under different pressures according to embodiments of the present disclosure.

[0050] In some embodiments, the flexible probe can achieve its function by applying different pressures to the fluid channel. For example... Figure 3 As shown, prior to implantation, there is no additional pressure inside the fluid channel, allowing the flexible probe to bend and move freely. During implantation, a first pressure is applied to the fluid channel to increase its stiffness, enabling implantation into brain tissue. After implantation, a second pressure is applied to the fluid channel to release drugs to the target site, performing drug delivery. The first pressure is lower than the second pressure.

[0051] Figure 4 The schematic diagram illustrates the state of a drug in a flexible probe under different pressure conditions according to embodiments of the present disclosure.

[0052] like Figure 4 As shown, under low pressure, the drug will not be released or diffused through the micropores; under high pressure, the drug is released to the target location through the micropores. Here, low pressure and high pressure are relative concepts. Low pressure can be understood as the pressure value at which the drug cannot be released from the micropores, and high pressure can be understood as the pressure value at which the drug can be released through the micropores. The specific pressure values ​​for high and low pressure may be related to the micropore size and the drug molecules. Those skilled in the art can select appropriate pressure values ​​according to the actual application scenario; this disclosure does not impose any limitations on this.

[0053] In some embodiments, the pressure control device applies corresponding pressure to the fluid channel based on control commands issued by the control unit, so as to change the stiffness of the flexible probe or to deliver drugs. The pressure control device can be at least one of a micro hydraulic pump, a micro solenoid valve, or a micro compressed gas source.

[0054] In some embodiments, after receiving the neural electrical signal transmitted by the flexible probe, the control unit analyzes the received neural electrical signal to obtain the electrical signal characteristics of the neural electrical signal, and generates corresponding control commands based on the electrical signal characteristics to control the pressure control device to regulate the pressure of the fluid channel.

[0055] For example, neural electrical signals include at least one of cortical electroencephalography (EEG), local field potentials, and neuronal action potentials. Features of neural electrical signals include at least one of discharge frequency, discharge interval, and discharge waveform. Those skilled in the art can also select appropriate neural electrical signal features to generate corresponding control commands based on actual circumstances; this disclosure does not impose limitations on these features.

[0056] In some embodiments, the control commands generated by the control module may include trigger commands and stop commands. The trigger command instructs the pressure control device to apply a second pressure to the fluid channel, and the stop command instructs the pressure control device to stop applying the second pressure to the fluid channel. The trigger command may, for example, include the pressure value and duration of the second pressure, and the stop command may, for example, include the pressure value returning to zero or maintaining a base pressure value. The control module generates either a trigger command or a stop command when specified conditions are met by the electrical signal characteristics.

[0057] In some embodiments, after receiving the neural electrical signals acquired by the conductive layer, the control module segments the electrical signals and determines the type of electrical signal characteristics for each segment. For example, it determines whether the corresponding characteristic type of the electrical signal is a normal electrical signal characteristic or an abnormal electrical signal characteristic. For instance, the presence of abnormal electrical signal characteristics can be determined by comparing the electrical signal characteristics with corresponding preset thresholds. For example, if a certain characteristic of the electrical signal exceeds its corresponding preset threshold, then that characteristic is considered an abnormal electrical signal characteristic. Different preset thresholds may correspond to different electrical signal characteristics.

[0058] For example, in response to a change in electrical signal characteristics from normal to abnormal, the control unit generates a trigger command and sends it to the pressure control device, causing the pressure control device to apply a second pressure to the fluid channel based on the trigger command, thereby releasing the drug to the target site. In response to a change in electrical signal characteristics from abnormal to normal, the control module sends a stop command to the pressure control device.

[0059] Taking the detection and control of epilepsy as an example, under normal conditions, neurons fire at a low frequency and with weak amplitude. However, during an epileptic seizure, the firing frequency and amplitude of neurons suddenly increase (i.e., abnormal characteristics). After detecting these abnormal characteristics, the control module generates a trigger command and sends it to the pressure control device. The pressure control device then applies pressure to the fluid channel, enabling the flexible probe to deliver the drug to the target site. During drug delivery, the conductive layer in the flexible probe simultaneously acquires neural electrical signals and sends these signals to the control module. The control module then monitors the electrical activity until the neural electrical signals return to a normal firing frequency or amplitude. At this point, the control module sends a stop command to the pressure control device, causing the pressure control system to reduce the pressure and stop drug delivery.

[0060] It should be noted that the above description of the application process of the control system using epilepsy symptoms as an example is for the convenience of those skilled in the art, but it does not mean that this disclosure is only applicable to epilepsy symptoms. Furthermore, the abnormal electrical signal characteristics in this embodiment are relative concepts, used to indicate that the electrical signal characteristics during a symptom attack differ from those in a normal state, and do not specifically limit the abnormal electrical signal characteristics. The corresponding abnormal electrical signal characteristics may differ depending on the specific symptoms.

[0061] In some embodiments, the pressure value and duration of the second pressure in the trigger command can be determined, for example, based on the characteristics of an abnormal electrical signal. The pressure value is related to the rate and dose of drug release and can be determined based on the characteristics of the abnormal electrical signal, thereby achieving rapid or slow release of the drug.

[0062] For example, segmented control of the second pressure can be achieved through trigger commands, setting different second pressure values ​​for each stage. This allows the pressure control device to sequentially apply corresponding pressures to the flexible probe based on the pressure values ​​of different stages in the trigger command, thereby achieving segmented drug release. For instance, applying a pressure of 2 MPa in stage 1 rapidly releases 80% of the drug dose, while applying a pressure of 1 MPa in stage 2 slowly releases the remaining 20% ​​of the drug dose. The control module can also dynamically adjust the second pressure value in the trigger command based on real-time feedback of neural electrical signals during the drug release stage, thereby improving the flexibility and accuracy of drug delivery.

[0063] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this disclosure, those skilled in the art can make various substitutions and modifications, all of which should be included within the protection scope of this disclosure.

Claims

1. A flexible probe based regulation system, characterized in that, include: A flexible probe, wherein at least one fluid channel is provided inside the flexible probe, and the flexible probe adjusts its stiffness and delivers drugs based on the fluid channel; The fluid channel is a reversible dynamic cavity constructed based on the difference in interlayer adhesion forces; In response to the application of a first pressure to the fluid channel, the stiffness of the fluid channel increases to facilitate the implantation task; In response to the application of a second pressure to the fluid channel, the drug is delivered to a target location via the fluid channel, wherein the first pressure is lower than the second pressure; A pressure control device, connected to the fluid channel of the flexible probe, is used to apply pressure to the fluid channel in order to adjust the stiffness of the flexible probe or to deliver drugs based on the flexible probe; The fluid channel is deformed by pressure changes, causing it to expand or contract. A control unit is used to generate control commands based on the neural electrical signals acquired by the flexible probe, the control commands being used to control the pressure control device; The control unit is connected to the conductive layer of the flexible probe and is used to receive neural electrical signals from the conductive layer. The control unit is used to analyze the received neural electrical signals to obtain the electrical signal characteristics of the neural electrical signals, and generate control commands based on the electrical signal characteristics. The control commands are used to control the pressure control device to regulate the pressure of the fluid channel.

2. The regulation system of claim 1, wherein, The flexible probe includes: A flexible substrate layer, wherein fluid channels are provided inside the flexible substrate layer; A conductive layer is disposed on the surface of the flexible substrate layer for collecting neural electrical signals; A flexible insulating layer is disposed on the surface of the conductive layer, covering the area of ​​the conductive layer except for the electrode points.

3. The regulation system of claim 2, wherein, The flexible probe also includes a micropore, through which a drug within the fluid channel is released to a target location in response to a second pressure being applied to the fluid channel.

4. The regulation system of claim 1, wherein, The control commands include a trigger command and a stop command. The trigger command instructs the pressure control device to apply a second pressure to the fluid channel, and the stop command instructs the pressure control device to stop applying the second pressure to the fluid channel. The electrical signal characteristics include normal electrical signal characteristics and abnormal electrical signal characteristics. In response to the electrical signal characteristics changing from normal electrical signal characteristics to abnormal electrical signal characteristics, the control unit sends a trigger command to the pressure control device. In response to the electrical signal characteristic changing from an abnormal electrical signal characteristic to a normal electrical signal characteristic, the control unit sends a stop command to the pressure control device.

5. The regulation system of claim 1, wherein, The neural electrical signals include at least one of cortical electroencephalography (EEG), local field potentials, and neuronal action potentials; the electrical signal characteristics include at least one of discharge frequency, discharge interval, discharge amplitude, and discharge waveform.

6. The regulation system of claim 1, wherein, The pressure control device includes at least one of a micro hydraulic pump, a micro solenoid valve, or a micro compressed gas source.

7. The regulation system of claim 1, wherein, In the case of fluid expansion injected into the reversible dynamic cavity, the height of the fluid channel ranges from 1 to 100 micrometers.

8. The control system according to claim 3, wherein the micropore is disposed at the front end of the flexible probe and has a diameter of 1-20 micrometers.

Images