Cochlear implant electrode implantation mechanism, implantation robot and implantation method

Abstract

This invention discloses a cochlear implant electrode implantation mechanism, implantation robot, and implantation method. The electrode implantation mechanism includes: an auxiliary mechanism with a cavity and a flexible conduit. A cochlear implant mounting bracket and an electrode propulsion control mechanism are installed within the cavity. At least a portion of the flexible conduit extends beyond the auxiliary mechanism, and the flexible conduit has a channel for the electrode to pass through. A base adjustment mechanism is also provided, comprising a drive mechanism and an electrode height fine-tuning mechanism. The drive mechanism is installed within the cavity, and the electrode height fine-tuning mechanism is installed at the bottom of the flexible conduit and at its free end. With the cooperation of the drive mechanism and the electrode height fine-tuning mechanism, the upward tilt angle of the free end of the flexible conduit is adjustable. This invention reduces the difficulty of cochlear implant electrode implantation, enabling convenient, stable, and precise electrode implantation.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to a cochlear implant electrode implantation mechanism, implantation robot, and implantation method. Background Technology

[0002] The existing cochlear implantation sites (round window or scala tympani) are very small. During the implantation process, due to the soft material properties and precise structural design of the cochlear implant, as well as the differences in the tissue structure of the middle ear and inner ear, the operation of cochlear implantation is extremely difficult and places strict requirements on the technical level of the surgeon.

[0003] Existing surgical instruments cannot provide stable and effective support for cochlear implant electrode implantation during surgery to maintain its shape. Electrode misalignment can easily lead to implantation position deviation, electrode damage, and other problems, affecting surgical outcomes and the quality of postoperative hearing recovery.

[0004] In addition, due to individual differences in human physiological structure, some patients may have smaller facial nerve recesses and special implantation angles, which further increases the difficulty of electrode implantation. Summary of the Invention

[0005] The purpose of this invention is to provide a cochlear implant electrode implantation mechanism, implantation robot, and implantation method, which reduces the difficulty of implanting cochlear implant electrodes and enables convenient, stable, and precise implantation of electrodes.

[0006] This invention provides a cochlear implant electrode implantation mechanism, comprising:

[0007] An auxiliary mechanism having a cavity and a flexible conduit, wherein a cochlear implant mounting bracket and an electrode advance control mechanism are installed in the cavity, and at least a portion of the flexible conduit extends beyond the auxiliary mechanism, and the flexible conduit has a channel for the electrode to pass through;

[0008] It also includes a base adjustment mechanism, which comprises a drive mechanism and an electrode height fine-tuning mechanism. The drive mechanism is installed in the cavity, and the electrode height fine-tuning mechanism is installed at the bottom of the flexible catheter and located at the free end of the flexible catheter. With the cooperation of the drive mechanism and the electrode height fine-tuning mechanism, the upward tilt angle of the free end of the flexible catheter is adjustable.

[0009] In one embodiment, the drive mechanism includes a guidewire adjustment servo motor and a guidewire, the electrode height fine-tuning mechanism includes a mounting bracket and a height adjustment block, the first end of the guidewire is drivenly connected to the guidewire adjustment servo motor, the second end of the guidewire is fixed to the height adjustment block, the height adjustment block is rotatably mounted on the mounting bracket, and the mounting bracket is mounted on the bottom of the flexible conduit.

[0010] In one embodiment, the first end of the height adjustment block is hinged to the mounting bracket, the mounting bracket having an opening at the bottom, and the height adjustment block rotates under the pull of the guide wire, with the second end of the height adjustment block extending out from the opening.

[0011] In one embodiment, the first end of the height adjustment block has a slot, and the electrode height fine-tuning mechanism further includes an elastic sheet. The first end of the elastic sheet is fixed to the mounting bracket, and the second end of the elastic sheet is inserted into the slot. When the height adjustment block rotates, at least part of the elastic sheet bends.

[0012] In one embodiment, the electrode propulsion control mechanism includes: an electrode propulsion control wheel, an electrode clamping wheel, an electrode clamping wheel axle, a clamping spring, a turbine, a worm gear, and a worm gear control servo motor;

[0013] The electrode propulsion control wheel and the turbine are coaxially mounted. The worm gear is connected to the worm gear control servo motor. The worm gear and the turbine are self-locking. The electrode clamping wheel axle is hinged to the auxiliary mechanism. The electrode clamping wheel is mounted on the electrode clamping wheel axle. The clamping spring is mounted on the auxiliary mechanism. Under the torque of the clamping spring, the electrode clamping wheel is in contact with the electrode propulsion control wheel.

[0014] In one embodiment, a magnetic coding unit is also installed in the cavity, and a permanent magnet is coaxially mounted on the electrode propulsion control wheel, with the magnetic coding unit cooperating with the permanent magnet;

[0015] And / or,

[0016] The cochlear implant mounting bracket has an electrode outlet, which is positioned toward the contact area of ​​the electrode clamping wheel and the electrode advance control wheel. The electrode outlet is also provided with a cochlear implant electrode positioning pin.

[0017] In one embodiment, the flexible conduit includes an upper flexible conduit and a lower flexible conduit, and the auxiliary mechanism includes an upper cover and an assembly bracket. The upper cover is fitted onto the assembly bracket, the upper flexible conduit is fixed to the upper cover, and the lower flexible conduit is fixed to the assembly bracket. The upper flexible conduit and the lower flexible conduit are fitted together, and the top surface of the lower flexible conduit is provided with an axially extending groove, which forms the channel.

[0018] In one embodiment, both the upper flexible catheter and the lower flexible catheter are fitted with flexible magnetic swivels; and / or, a miniature endoscope is fitted to the free end of the lower flexible catheter.

[0019] This invention also provides a cochlear implant electrode implantation robot, comprising: a main control system, a navigation guidance mechanism, and any one of the aforementioned cochlear implant electrode implantation mechanisms. The main control system is provided with a pitch angle adjustment mechanism and a left / right yaw angle adjustment mechanism. The pitch angle adjustment mechanism is mounted on the left / right yaw angle adjustment mechanism. The navigation guidance mechanism is mounted on the pitch angle adjustment mechanism. The cochlear implant electrode implantation mechanism is mounted on the navigation guidance mechanism. The navigation guidance mechanism moves the cochlear implant electrode implantation mechanism on the X-axis and rotates the cochlear implant electrode implantation mechanism around the X-axis. The pitch angle adjustment mechanism moves the cochlear implant electrode implantation mechanism on the Z-axis and adjusts the pitch angle of the cochlear implant electrode implantation mechanism. The left / right yaw angle adjustment mechanism rotates the cochlear implant electrode implantation mechanism around the Z-axis and moves the cochlear implant electrode implantation mechanism on the Y-axis.

[0020] The present invention also provides a method for implanting a cochlear implant electrode, comprising:

[0021] The electrode is installed in a flexible catheter, and the flexible catheter is moved to the target position so that the tip of the electrode is close to the electrode implantation port on the cochlea;

[0022] Adjust the upward tilt angle of the free end of the flexible catheter so that the electrode tip is aligned with the electrode implantation site;

[0023] Advance the electrode into the cochlea at the target speed;

[0024] After the electrode implantation length reaches the preset length, the electrode is advanced while the flexible catheter is controlled to retract at the same speed.

[0025] The technical solution provided by this invention has the following advantages and effects:

[0026] By incorporating a flexible catheter into the electrode implantation mechanism to form an electrode base, the distance between the electrode implantation starting point and the electrode implantation site on the cochlea can be minimized. This reduces deformation and wobbling of the soft electrode due to increased protrusion distance. Furthermore, the use of a flexible catheter eliminates the risk of secondary injury to the patient. By installing an electrode height fine-tuning mechanism at the bottom and free end of the flexible catheter, the upward tilt angle of the electrode tip can be precisely adjusted. This addresses the issues of electrode drooping and wobbling due to its softness, as well as the difficulty in aligning the electrode with the small implantation site on the cochlea. The combination of the flexible catheter and the electrode height fine-tuning mechanism reduces the difficulty of cochlear implantation, enabling convenient, stable, and precise electrode placement. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a cochlear implantation robot according to an embodiment of the present invention;

[0028] Figure 2 for Figure 1 A schematic diagram of the main control system in the embodiment;

[0029] Figure 3 for Figure 1 A schematic diagram of the navigation guidance mechanism in the embodiment;

[0030] Figure 4 This is a top-view perspective view of the electrode implantation mechanism according to an embodiment of the present invention;

[0031] Figure 5 This is a perspective view of the electrode implantation mechanism according to an embodiment of the present invention from a bottom angle;

[0032] Figure 6 This is a schematic diagram of the upper and lower flexible catheters after they are closed according to an embodiment of the present invention;

[0033] Figure 7 for Figure 6 Cross-sectional view of position AA in the middle;

[0034] Figure 8 This is a schematic diagram of the base adjustment mechanism according to an embodiment of the present invention;

[0035] Figure 9 This is a perspective view of the electrode height fine-tuning mechanism according to an embodiment of the present invention;

[0036] Explanation of reference numerals in the attached figures:

[0037] 100. Control panel system; 110. Control panel; 120. Display; 130. Intercom system; 140. Main controller.

[0038] 200. Main control system

[0039] 210. Pitch angle adjustment mechanism; 211. Altitude adjustment bracket; 212. Screw sliding mechanism; 213. Infrared ranging mechanism; 214. Connecting bracket; 215. Rocker arm; 216. Rocker arm servo motor; 217. Screw servo motor.

[0040] 220. Left / Right Angle Adjustment Mechanism; 221. Z-Axis Rotation Servo Motor; 222. Infrared Angle Monitoring Mechanism; 223. Turntable; 224. Z-Axis Rotation Mechanism Mounting Bracket; 225. Infrared Distance Monitoring Mechanism; 226. Slider; 227. Y-Axis Movement Mechanism Mounting Bracket; 228. Y-Axis Movement Servo Motor.

[0041] 230. Main controller

[0042] 240. Protective isolation components; 241. Height adjustment bracket protective shell; 242. Motor cover; 243. Rocker arm guard plate; 244. Top guard plate; 245. Emergency stop button; 246. Left and right guard plates; 247. Front and rear guard plates; 248. Assembly bracket; 249. Silent wheels.

[0043] 300. Navigation and guidance mechanism; 310. X-axis motion servo motor; 320. X-axis motion servo motor mounting plate; 330. Coupling; 340. Ball spline shaft; 341. Ball spline sleeve; 350. Lead screw; 351. Ball lead screw sleeve; 360. Bearing; 370. Rocker arm connecting plate; 380. X-axis rotation servo motor connecting plate; 390. X-axis rotation servo motor; 391. X-axis rotation servo motor cover.

[0044] 400. Electrode implantation device

[0045] 410. Auxiliary mechanism; 411. Assembly bracket; 412. Electromagnetic lock body; 413. Electromagnetic lock armature; 414. Top cover; 415. Bottom cover.

[0046] 420. Cochlear implant mounting bracket; 421. Electrode outlet; 422. Cochlear implant electrode positioning pin.

[0047] 430. Flexible catheter; 431. Channel; 432. Upper flexible catheter; 433. Lower flexible catheter; 434. Flexible magnetic traction plate.

[0048] 440. Electrode propulsion control mechanism; 4401. Electrode propulsion control wheel; 4402. Electrode clamping wheel; 4403. Electrode clamping wheel axle; 4404. Clamping spring; 4405. Turbine; 4406. Worm gear; 4407. Worm gear control servo motor; 4408. Turbine shaft; 4409. Turbine shaft bearing; 4410. Coupling; 4411. Worm gear bearing; 4412. Magnetic encoding unit; 4413. Circular permanent magnet.

[0049] 450. Base adjustment mechanism; 451. Drive mechanism; 4510. Guide wire adjustment servo motor; 4511. Guide wire; 452. Electrode height fine-tuning mechanism; 4520. Mounting bracket; 4521. Height adjustment block; 4522. Opening; 4523. Mounting bracket cover plate; 4524. Elastic sheet; 4525. Groove.

[0050] 460. Miniature endoscope. Detailed Implementation

[0051] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0052] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.

[0053] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the related listed items.

[0054] It should be noted that in this article, "fixed to" or "connected to" can mean directly fixed to or connected to a component, or indirectly fixed to or connected to a component.

[0055] Figure 1 The diagram shows a cochlear implantation robot according to an embodiment of the present invention, comprising an operating console control system 100, a main control system 200, a navigation guidance mechanism 300, and an electrode implantation mechanism 400. The electrode implantation mechanism 400 is mounted on the navigation guidance mechanism 300, which is mounted on the main control system 200. The main control system 200 is electrically connected to the operating console control system 100.

[0056] Specifically, the operating console control system 100 includes an operating console 110, a display 120, a communication system 130, and a main controller 140. The display 120 is positioned in the center of the operating console 110 and its main function is to display real-time images acquired by the microscope. This provides the operating physician with a way to observe the patient's condition, helping them accurately assess the situation and formulate a scientifically sound surgical plan, thus greatly aiding the patient's recovery. The communication system 130 is placed on the operating console 110, located to the side of the display 120. Its position is close to the physician's mouth for easy operation. The communication system 130 enables effective communication between the physician and medical staff and patients in the operating room, guiding the surgical process and providing strong communication support for the smooth progress of the surgery. The main controller 140 is placed on the operating console 110 and is divided into six control units: an emergency stop control unit, an electrode base control unit, a pitch and yaw angle control unit, an electrode implantation control unit, a distance control unit, and a height and yaw position control unit. The main function of the master controller 140 is to precisely control the operating trajectory of the navigation guidance mechanism 300, the start and stop of the electrode implantation mechanism 400, and the extension distance of the electrode base. Through the coordination of various control units, the navigation guidance mechanism 300 can operate at a reasonable angle, ensuring the accuracy and safety of the surgical procedure and providing reliable technical support for medical surgery. By controlling the start and stop of the electrode implantation mechanism 400 and fine-tuning the height of the electrode base, the electrodes are ensured to be implanted into the patient's cochlea rationally and efficiently, ensuring the efficiency and effectiveness of the surgery.

[0057] like Figure 2As shown, the main control system 200 includes a pitch angle adjustment mechanism 210, a left / right tilt angle adjustment mechanism 220, a main controller 230, and a protection and isolation component 240. The pitch angle adjustment mechanism 210 is mounted on the left / right tilt angle adjustment mechanism 220, and the navigation guidance mechanism 300 is mounted on the pitch angle adjustment mechanism 210.

[0058] The pitch angle adjustment mechanism 210 includes a height adjustment bracket 211, a lead screw sliding mechanism 212, an infrared ranging mechanism 213, a connecting bracket 214, a rocker arm 215, a rocker arm servo motor 216, and a lead screw servo motor 217. The lead screw sliding mechanism 212, infrared ranging mechanism 213, connecting bracket 214, and lead screw servo motor 217 are mounted on the height adjustment bracket 211, which serves to connect, support, and position the device. The rocker arm servo motor 216 is mounted on the connecting bracket 214, and the rocker arm 215 is mounted on the rocker arm servo motor 216. The lead screw servo motor 217 drives the lead screw sliding mechanism 212, causing the connecting bracket 214 to slide in the Z-axis direction. The rocker arm servo motor 216 drives the rocker arm 215 to rotate around the Y-axis, adjusting the pitch angle. The cooperation of all components and mechanisms ultimately ensures that the electrode implantation achieves the ideal approach pitch angle.

[0059] The left and right tilt angle adjustment mechanism 220 includes a Z-axis rotation servo motor 221, an infrared angle monitoring mechanism 222, a turntable 223, a Z-axis rotation mechanism mounting bracket 224, an infrared distance monitoring mechanism 225, a slider 226, a Y-axis movement mechanism mounting bracket 227, and a Y-axis movement servo motor 228. The Z-axis rotation mechanism mounting bracket 224 houses the Z-axis rotation servo motor 221, the infrared angle monitoring mechanism 222, and the turntable 223. Controlling the rotation of the Z-axis rotation servo motor 221 controls the rotation of the turntable 223, and the infrared angle monitoring mechanism 222 provides real-time feedback on the real-time angle of the turntable 223. The Y-axis movement mechanism mounting bracket 227 houses the Z-axis rotation mechanism mounting bracket 224, the infrared distance monitoring mechanism 225, the slider 226, and the Y-axis movement servo motor 228. Controlling the rotation of the Y-axis movement servo motor 228 controls the position of the slider 226, and the infrared distance monitoring mechanism 225 provides real-time feedback on the position of the slider 226. The two actions work together to achieve the ideal left and right tilt angle for electrode implantation.

[0060] With the cooperation of the pitch angle adjustment mechanism 210 and the left and right tilt angle adjustment mechanism 220, an ideal implantation angle is provided for the implantation of cochlear implant electrodes.

[0061] The protective isolation component 240 includes a height-adjustable bracket protective shell 241, a motor cover 242, a rocker arm guard plate 243, an upper guard plate 244, an emergency stop button 245, left and right guard plates 246, front and rear guard plates 247, a final assembly bracket 248, and silent casters 249. The height-adjustable bracket protective shell 241 is mounted on the turntable 223, covering the components on the height-adjustable bracket 211. The motor cover 242 is mounted on the connecting bracket 214, covering the rocker arm servo motor 216. The rocker arm guard plate 243 is mounted on the rocker arm 215, sealing the internal compartment. The upper guard plate 244 is mounted above the final assembly bracket 248. The emergency stop button 245 is mounted on the upper guard plate 244, and the left and right guard plates 246 and front and rear guard plates 247 are respectively mounted on the front, rear, left, and right sides of the final assembly bracket 248. The final assembly bracket 248 connects and supports the entire machine. Silent casters 249 are assembled at the bottom of the final assembly bracket 248. The main controller 230 is assembled in the assembly bracket 248 and connects to various key modules, such as the display 120, the main controller 140, and the communication system 13. Through close connection with these modules, the main controller 230 can efficiently coordinate and control the operation of the entire implantation robot. It receives and processes signals from various modules, issues precise instructions, and ensures the safe, stable, and accurate execution of various operational tasks during the surgery.

[0062] like Figure 3As shown, the navigation guidance mechanism 300 includes an X-axis motion servo motor 310, an X-axis motion servo motor mounting plate 320, a coupling 330, a ball spline shaft 340, a ball spline sleeve 341, a lead screw 350, a ball lead screw sleeve 351, a bearing 360, a rocker arm connecting plate 370, an X-axis rotation servo motor connecting plate 380, an X-axis rotation servo motor 390, and an X-axis rotation servo motor cover 391. An X-axis servo motor 310 and a ball spline shaft 340 are mounted on an X-axis servo motor mounting plate 320. The X-axis servo motor 310 and a lead screw 350 are connected by a coupling 330. The other end of the lead screw 350 is mounted on an X-axis servo motor connecting plate 380 via a bearing 360. The other end of the ball spline shaft 340 is also fixed on the X-axis servo motor connecting plate 380. The lead screw 350 and the ball spline shaft 340 serve an orienting function. At the same time, the X-axis servo motor 310 drives the lead screw 350 to rotate, causing the ball screw sleeve 351 and the ball spline sleeve 341 to slide on the lead screw 350 and the ball spline shaft 341, respectively. Since the rocker arm connecting plate 370 is fixed on the rocker arm 215, the X-axis servo motor connecting plate 380 can move axially on the lead screw 350. The X-axis rotation servo motor 390 is mounted on the X-axis rotation servo motor cover 391, which is mounted on the X-axis rotation servo motor connecting plate 380. The electrode implantation mechanism 400 is connected to the rotating shaft of the X-axis rotation servo motor 390. The distance between the electrode implantation mechanism 400 and the facial recess is adjusted by the navigation guidance mechanism 300 to obtain a better field of vision and create better conditions for electrode implantation.

[0063] like Figure 4 , Figure 5As shown, the electrode implantation mechanism 400 includes an auxiliary mechanism 410, a cochlear implant mounting bracket 420, a flexible catheter 430, an electrode advancement control mechanism 440, and a base adjustment mechanism 450. The auxiliary mechanism 400 has a cavity in which the cochlear implant mounting bracket 420 and the electrode advancement control mechanism 440 are installed. The specific shape and structure of the auxiliary mechanism 410 are not limited; in this embodiment, the auxiliary mechanism 410 includes a main assembly bracket 411, an electromagnetic lock body 412, an electromagnetic lock armature 413, an upper cover 414, and a lower cover 415. The upper cover 414 is hinged to the assembly bracket 411. An electromagnetic lock armature 413 is installed inside the upper cover 414, and the electromagnetic lock body 412 is installed on the upper part of the assembly bracket 411. After the upper cover 414 covers the upper part of the assembly bracket 411, the electromagnet in the electromagnetic lock body 412 generates a magnetic force to attract the electromagnet armature 413, thus keeping the space between the upper part of the assembly bracket 411 and the upper cover 414 relatively closed. Simultaneously, the upper cover 414 precisely seals the top of the cochlear implant mounting bracket 420, ensuring the cochlear implant remains relatively stable throughout the implantation process. The electromagnetic lock allows the upper cover 414 to adhere tightly to the assembly bracket 411, preventing accidental opening due to collisions or errors. The lower cover 415 is installed on the lower part of the assembly bracket 411, sealing the space below the assembly bracket 411 and providing installation conditions for related parts. It also provides installation conditions for the electrode implantation mechanism 400 to be installed on the navigation guidance mechanism 300. The assembly bracket 411 provides installation conditions for most of the parts of the electrode implantation mechanism.

[0064] The cochlear implant mounting bracket 420 is mounted on the upper part of the main assembly bracket 411, and a portion of the slender cochlear implant electrode is coiled within the cochlear implant mounting bracket 420. The specific shape and structure of the cochlear implant mounting bracket 420 are not limited. The cochlear implant mounting bracket 420 has an electrode outlet 421 facing the electrode advancement control mechanism 440, and a cochlear implant electrode positioning pin 422 is provided at the electrode outlet 421. The cochlear implant electrode positioning pin 422 is used to position the cochlear implant electrode, ensuring its axial direction is fixed, and preventing the cochlear implant electrode from becoming tangled during implantation.

[0065] This invention incorporates a flexible catheter 430, one end of which is fixed within the cavity of the auxiliary mechanism 410, while the other end extends beyond the auxiliary mechanism 410. The catheter has an internal channel 431 through which an electrode passes. The flexible catheter 430 serves as an electrode support, providing support and fixation for the electrode, aiding in aiming at the cochlear implantation site, and improving electrode implantation efficiency. Furthermore, the flexible catheter minimizes the distance between the electrode implantation starting point and the electrode implantation site on the cochlea, reducing deformation and wobbling of the flexible electrode due to increased extension distance. Simultaneously, the use of a flexible catheter ensures that it does not damage patient tissue when in contact with it. The flexible catheter is typically made of medical-grade polyurethane.

[0066] Specifically, such as Figure 6 As shown, the flexible catheter 430 in this embodiment includes an upper flexible catheter 432 and a lower flexible catheter 433. The upper flexible catheter 432 is fixed to the upper cover 414, and the lower flexible catheter 433 is fixed to the assembly bracket 411. The upper flexible catheter 432 and the lower flexible catheter 433 are fitted together. The top surface of the lower flexible catheter 433 has an axially extending groove, forming a channel 431 for the electrode to pass through. By using the mutually fitting upper flexible catheter 432 and lower flexible catheter 433, it is convenient to pre-lay the electrode in the channel, improving the smoothness and stability of electrode implantation.

[0067] Furthermore, such as Figure 7 As shown, this embodiment also includes flexible magnetic locating sheets 434 installed in both the upper flexible conduit 432 and the lower flexible conduit 433. After the cochlear implant is installed in the electrode implantation mechanism 400, the upper cover 414 is closed, and the upper flexible conduit 432 and the lower flexible conduit 433 accurately fit together under the attraction of the flexible magnetic locating sheets 434 and guided by their own mechanism. The attraction of the flexible magnetic locating sheets 434 is sufficient to maintain a relatively stable positional relationship between the two and allows the upper flexible conduit 432 and the lower flexible conduit 433 to maintain appropriate flexibility in the vertical direction after assembly. The material of the flexible magnetic locating sheets 434 can be medical magnetic silicone sheets, flexible ferrite magnetic sheets, etc.

[0068] The electrode propulsion control mechanism 440 is used to propel the electrode through the flexible conduit 430 and into the cochlea. Specifically, the electrode propulsion control mechanism 440 mainly includes: an electrode propulsion control wheel 4401, an electrode clamping wheel 4402, an electrode clamping wheel axle 4403, a clamping spring 4404, a turbine 4405, a worm gear 4406, and a worm gear control servo motor 4407. The electrode propulsion control wheel 4401 and the turbine 4405 are coaxially mounted on the turbine shaft 4408, and the turbine shaft 4408 is rotatably mounted in the assembly bracket 411 via a turbine shaft bearing 4409 on the assembly bracket 411 and the lower cover 415. One end of the worm gear 4406 is connected to the worm gear control servo motor 4407 via a coupling 4410, and the other end is mounted on the worm bearing 4411 in the assembly bracket 411, rotatably mounted in the assembly bracket 411. One end of the electrode clamping wheel shaft 4403 is hinged to the assembly bracket 411, and a clamping spring 4404 is installed at the hinge. The electrode clamping wheel 4402 is rotatably mounted on the other end of the electrode clamping wheel shaft 4403. Under the elastic force of the clamping spring 4404, the electrode clamping wheel 4402 always fits against the electrode propulsion control wheel 4401.

[0069] The working process of the electrode propulsion control mechanism 440 is as follows: the electrode clamping wheel 4402 is pulled open to clamp the electrode extending from the cochlear implant mounting bracket 420 into the grooves on the electrode clamping wheel 4402 and the electrode propulsion control wheel 4401. The remaining part of the electrode is installed in the groove of the lower flexible conduit 433. The upper cover 414 is closed, and the worm gear control servo motor 4407 drives the worm gear 4406 to rotate. The worm gear 4406 drives the turbine 4405 to rotate, so that the electrode propulsion control wheel 4401 on the turbine shaft 4408 rotates synchronously. Under the combined action of the electrode propulsion control wheel 4401 and the electrode clamping wheel 4402, the propulsion speed of the electrode is stable and controllable. Because the cochlea is filled with lymph fluid, the pressure of the lymph fluid during electrode implantation can cause the implanted electrode to retract. This is more common in patients with high inner ear pressure, where electrode retraction is particularly pronounced. Electrode retraction may require repeated implantation, increasing the risk of cochlear structural damage, failing to adequately protect the patient's residual hearing, increasing surgical time, and adding to the burden on both the surgeon and the patient, thus raising the overall surgical risk. In this embodiment, the worm gear 4406 and turbine 4405 engage in a self-locking mechanism. Utilizing the self-locking characteristic of the worm gear mechanism, the electrode propulsion control wheel 4401 and electrode clamping wheel 4402 can immediately self-lock even without power during electrode implantation and after complete implantation. Simultaneously, the clamping action of the electrode clamping wheel 4402 effectively prevents electrode retraction. Furthermore, using a worm gear mechanism to provide power for electrode implantation facilitates speed adjustment and allows for maintaining a low speed for extended periods.

[0070] In some embodiments, a magnetic encoding unit 4412 and a circular permanent magnet 4413 are also provided. The magnetic encoding unit 4412 is mounted on the upper cover 414, and the circular permanent magnet 4413 is coaxially mounted on the electrode propulsion control wheel 4401 and rotates synchronously. After the upper cover 414 is closed, the magnetic encoding unit 4412 is located directly above the circular permanent magnet 4413. The rotation information of the electrode propulsion control wheel 4401 is processed by the magnetic encoding unit 4412 through magnetic signals and reflected in real time to the display 120, so as to accurately monitor the implantation speed of the electrode at all times.

[0071] The base adjustment mechanism 450 is used to adjust the upward tilt angle of the free end of the flexible catheter 430, thereby finely adjusting the height of the electrode tip. This solves the problem of difficulty in aligning the electrode implantation site on the cochlea due to the electrode's extreme softness and drooping motion, as well as the very small implantation site. Figure 8As shown, the base adjustment mechanism 450 mainly includes a drive mechanism 451 and an electrode height fine-tuning mechanism 452. The drive mechanism 451 is mounted on the assembly bracket 411 and is used to control the electrode height fine-tuning mechanism 452. The electrode height fine-tuning mechanism 452 is installed below and in front of the lower flexible conduit 433. The specific installation method is not limited and can be embedded, snap-fit, or other installation methods. In some embodiments, if the flexible conduit 430 is integrally manufactured, the electrode height fine-tuning mechanism 452 can be installed at the bottom of the flexible conduit 430 and located at the free end of the flexible conduit 430. With the cooperation of the drive mechanism 451 and the electrode height fine-tuning mechanism 452, the upward tilt angle of the free end of the flexible conduit 430 can be adjusted.

[0072] Specifically, refer to Figure 8 and Figure 9 The drive mechanism 451 includes a guide wire adjustment servo motor 4510 and a guide wire 4511, while the electrode height fine-tuning mechanism 452 includes a mounting bracket 4520 and a height adjustment block 4521. The mounting bracket 4520 is mounted on the bottom of the flexible conduit 430, and the height adjustment block 4521 is rotatably mounted on the mounting bracket 4520. The first end of the guide wire 4511 is connected to the guide wire adjustment servo motor 4510, which pulls the guide wire 4511. The second end of the guide wire 4511 is fixed (e.g., welded) to the height adjustment block 4521, causing the height adjustment block 4521 to rotate when the guide wire 4511 is pulled. The shape of the height adjustment block 4521 is not limited. In this embodiment, the mounting bracket 4520 has an opening 4522 at its bottom and is also provided with a mounting bracket cover plate 4523. The mounting bracket cover plate 4523 is installed on one side of the mounting bracket 4520, providing protection and limiting for the components inside the mounting bracket 4520. The first end of the height adjustment block 4521 is hinged to the mounting bracket 4520. Under the pull of the guide wire, the height adjustment block 4521 rotates, and the second end of the height adjustment block 4521 extends or retracts from the opening 4522. This adjusts the support height of the mounting bracket 4520, enabling precise control of the electrode implantation depth and position. It also facilitates minimally invasive, real-time adjustments during implantation, improving the stability and accuracy of electrode implantation.

[0073] In some embodiments, an elastic sheet 4524 is used to assist in the retraction of the height adjustment block 4521. Specifically, the first end of the height adjustment block 4521 has a slot 4525, the first end of the elastic sheet 4524 is fixed to the mounting bracket 4520, and the second end of the elastic sheet 4524 is inserted into the slot 4525. When the height adjustment block 4521 rotates, at least part of the elastic sheet 4524 bends, generating a rebound force. After the guide wire adjustment servo motor 4510 releases the guide wire 4511, the height adjustment block 4521 rotates back to its initial position under the elastic action of the elastic sheet 4524, and the height adjustment block 4521 can reset back into the mounting bracket 4520. Therefore, the height adjustment block 4521 is always under the control of the elastic sheet 4524 and the guide wire 4511, so that the height of the electrode can be repeatedly adjusted within a certain range.

[0074] In some embodiments, a miniature endoscope 460 is also installed at the free end of the lower flexible conduit 433. The miniature endoscope 460 monitors the condition of the inner ear in real time, transmits images to a display, and works in conjunction with the control panel system.

[0075] The working process of the base adjustment mechanism 450 is as follows: Although the end of the flexible catheter 430 reaches a relatively ideal position for electrode implantation, due to differences in individual patient physiological structure, the electrode implantation opening on the cochlea is very small, and the cochlear implant electrode is very thin and soft, so it may sag to some extent. It is very likely that the height of the electrode will not be consistent with the height of the cochlear implantation opening, which is a key point and difficulty in conventional cochlear implantation electrode surgery. At this time, the guidewire adjustment servo motor 4510 pulls the guidewire 4511, causing the height adjustment block 4521 to rotate, supporting the flexible catheter 430. Under the monitoring of the miniature endoscope 460 mounted on the lower flexible catheter 433, the end of the cochlear implant electrode is finely adjusted to the ideal height, so that the electrode can enter the cochlear implantation opening at the appropriate angle and position.

[0076] The working process of the cochlear implantation robot in this embodiment is as follows:

[0077] Before the operation, the patient is under local or general anesthesia, and the head is accurately positioned. The patient will not make any movements that would affect the progress of the operation, such as turning the head. In the initial state, the navigation guidance mechanism and electrode implantation mechanism are kept vertically upward to avoid occupying room space.

[0078] The master controller 140 in the doctor's control console control system 100 controls the left and right tilt angle adjustment mechanism 220 and the pitch angle adjustment mechanism 210 in the main control system 200 to make the electrode implantation mechanism 400 face the patient's facial nerve recess. The miniature endoscope 460 is activated, and the image of the miniature endoscope 460 is displayed in real time in the window of the monitor 120.

[0079] The main controller 140 controls the navigation guidance mechanism 300 to continue approaching the patient's facial nerve recess. The patient's inner ear is observed through a miniature endoscope 460. The main controller 140 fine-tunes the posture to ensure the electrode implantation mechanism 400 reaches the ideal implantation position. Because a flexible catheter is used, it does not cause harm to the patient when in contact with the patient's tissue. Therefore, there is no risk of tissue damage during position calibration. The current position information is recorded, and the main controller 140 controls the navigation guidance mechanism 300 to retract the electrode implantation mechanism 400.

[0080] The cochlear implant is installed in the electrode implantation mechanism 400, and the navigation guidance mechanism 300 is controlled by the main controller 140 to make the electrode implantation mechanism 400 reach the previously calibrated position.

[0081] The electrode implantation mechanism 400 is activated by the main controller 140, bringing the electrode tip closer to the electrode implantation port on the cochlea. After leaving the flexible catheter 430, the electrode tip, being very flexible, will continuously droop as it approaches the implantation port. The position of the electrode tip is observed in real time through the miniature endoscope 460. The electrode height fine-tuning mechanism 452 on the base adjustment mechanism 450 aligns the electrode tip with the implantation port. The electrode implantation mechanism 400 is controlled to continuously and slowly insert the electrode into the cochlea at a predetermined speed. Due to the self-locking principle of the worm gear in the electrode implantation mechanism 400, and the electrode propulsion control wheel 4401 and electrode clamping wheel 4402 constantly clamping the electrode, there will be no electrode retraction during implantation. The implantation speed and length are displayed in real time on the display 120.

[0082] Once the electrode implantation length reaches the expected length, a withdrawal procedure is executed. At this point, the electrode implantation mechanism 400 continues to advance the electrode, while the navigation and guidance mechanism 300 pulls the electrode implantation mechanism 400 backward. The absolute speeds of the two are the same, but their directions are opposite, keeping the cochlear implant electrode stationary relative to the electrode implantation port, thus achieving a certain safe distance. A small piece of temporalis fascia is used to block and seal the scala tympani hole, or ear-brain adhesive is used to fix the electrode. During the electrode fixation process, the cochlear implant remains installed in the electrode implantation mechanism 400, which serves to prevent the electrode from retracting. After the electrode fixation is completed, the cochlear implant is removed from the electrode implantation mechanism 400, and the main control system and navigation and guidance mechanism 300 are gradually withdrawn. At this point, the cochlear implantation electrode implantation is complete.

[0083] This invention also provides a method for implanting a cochlear implant electrode, the specific steps of which include:

[0084] The electrode is installed in a flexible catheter, and the flexible catheter is moved to the target position so that the tip of the electrode is close to the electrode implantation port on the cochlea;

[0085] Adjust the upward tilt angle of the free end of the flexible catheter so that the electrode tip is aligned with the electrode implantation site;

[0086] Advance the electrode into the cochlea at the target speed;

[0087] After the electrode implantation length reaches the preset length, the electrode is advanced while the flexible catheter is controlled to retract at the same speed.

[0088] For details on the cochlear implant electrode implantation method, please refer to the previous article on the working process of the cochlear implant electrode implantation robot, which will not be repeated here.

[0089] The purpose of the above embodiments is to reproduce and derive the technical solution of the present invention by way of example, and to fully describe the technical solution, purpose and effect of the present invention. The purpose is to enable the public to have a more thorough and comprehensive understanding of the disclosure of the present invention, and not to limit the scope of protection of the present invention.

[0090] The above embodiments are not an exhaustive list based on the present invention, and there may be many other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A cochlear implant electrode implantation mechanism, characterized in that, include: An auxiliary mechanism having a cavity and a flexible conduit, wherein a cochlear implant mounting bracket and an electrode advance control mechanism are installed in the cavity, and at least a portion of the flexible conduit extends beyond the auxiliary mechanism, and the flexible conduit has a channel for the electrode to pass through; It also includes a base adjustment mechanism, which comprises a drive mechanism and an electrode height fine-tuning mechanism. The drive mechanism is installed in the cavity, and the electrode height fine-tuning mechanism is installed at the bottom of the flexible catheter and located at the free end of the flexible catheter. With the cooperation of the drive mechanism and the electrode height fine-tuning mechanism, the upward tilt angle of the free end of the flexible catheter is adjustable.

2. The cochlear implant electrode implantation mechanism as described in claim 1, characterized in that, The driving mechanism includes a guidewire adjustment servo motor and a guidewire. The electrode height fine-tuning mechanism includes a mounting bracket and a height adjustment block. The first end of the guidewire is connected to the guidewire adjustment servo motor. The second end of the guidewire is fixed to the height adjustment block. The height adjustment block is rotatably mounted on the mounting bracket. The mounting bracket is mounted at the bottom of the flexible catheter.

3. The cochlear implant electrode implantation mechanism as described in claim 2, characterized in that, The first end of the height adjustment block is hinged to the mounting bracket, which has an opening at the bottom. Under the pull of the guide wire, the height adjustment block rotates and the second end of the height adjustment block extends out from the opening.

4. The cochlear implant electrode implantation mechanism as described in claim 3, characterized in that, The height adjustment block has a slot at its first end, and the electrode height fine-tuning mechanism also includes an elastic sheet. The first end of the elastic sheet is fixed to the mounting bracket, and the second end of the elastic sheet is inserted into the slot. When the height adjustment block rotates, at least part of the elastic sheet bends.

5. The cochlear implant electrode implantation mechanism as described in claim 1, characterized in that, The electrode propulsion control mechanism includes: an electrode propulsion control wheel, an electrode clamping wheel, an electrode clamping wheel axle, a clamping spring, a worm gear, a worm control servo motor; The electrode propulsion control wheel and the turbine are coaxially mounted. The worm gear is connected to the worm gear control servo motor. The worm gear and the turbine are self-locking. The electrode clamping wheel axle is movably mounted on the auxiliary mechanism. The electrode clamping wheel is mounted on the electrode clamping wheel axle. The clamping spring is mounted on the auxiliary mechanism. Under the torque of the clamping spring, the electrode clamping wheel is in contact with the electrode propulsion control wheel.

6. The cochlear implant electrode implantation mechanism as described in claim 5, characterized in that, A magnetic coding unit is also installed inside the cavity, and a permanent magnet is coaxially mounted on the electrode propulsion control wheel. The magnetic coding unit cooperates with the permanent magnet. And / or, The cochlear implant mounting bracket has an electrode outlet, which is positioned toward the contact area of ​​the electrode clamping wheel and the electrode advance control wheel. The electrode outlet is also provided with a cochlear implant electrode positioning pin.

7. The cochlear implant electrode implantation mechanism as described in any one of claims 1-6, characterized in that, The flexible conduit includes an upper flexible conduit and a lower flexible conduit. The auxiliary mechanism includes an upper cover and an assembly bracket. The upper cover is fitted onto the assembly bracket. The upper flexible conduit is fixed to the upper cover. The lower flexible conduit is fixed to the assembly bracket. The upper flexible conduit and the lower flexible conduit are fitted together. The top surface of the lower flexible conduit has an axially extending groove, which forms the channel.

8. The cochlear implant electrode implantation mechanism as described in claim 7, characterized in that, Both the upper and lower flexible catheters are equipped with flexible magnetic swivels; and / or, a miniature endoscope is installed at the free end of the lower flexible catheter.

9. A cochlear implant electrode implantation robot, characterized in that, include: The system comprises a main control system, a navigation guidance mechanism, and a cochlear implant electrode implantation mechanism as described in any one of claims 1-8. The main control system includes a pitch angle adjustment mechanism and a left / right yaw angle adjustment mechanism. The pitch angle adjustment mechanism is mounted on the left / right yaw angle adjustment mechanism. The navigation guidance mechanism is mounted on the pitch angle adjustment mechanism. The cochlear implant electrode implantation mechanism is mounted on the navigation guidance mechanism. The navigation guidance mechanism moves the cochlear implant electrode implantation mechanism on the X-axis and rotates it around the X-axis. The pitch angle adjustment mechanism moves the cochlear implant electrode implantation mechanism on the Z-axis and adjusts its pitch angle. The left / right yaw angle adjustment mechanism rotates the cochlear implant electrode implantation mechanism around the Z-axis and moves it on the Y-axis.

10. A method for implanting cochlear implant electrodes, characterized in that, include: The electrode is installed in a flexible catheter, and the flexible catheter is moved to the target position so that the tip of the electrode is close to the electrode implantation port on the cochlea; Adjust the upward tilt angle of the free end of the flexible catheter so that the electrode tip is aligned with the electrode implantation site; Advance the electrode into the cochlea at the target speed; After the electrode implantation length reaches the preset length, the electrode is advanced while the flexible catheter is controlled to retract at the same speed.

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