Flexible electrode implanting robots, methods, devices, media, and products

Abstract

The application provides a flexible electrode implanting robot, method, device, medium and product, relates to the technical field of medical devices, and aims to solve the defects of low implanting efficiency, poor implanting precision and poor repeatability of the flexible electrode in the prior art, improve the implanting efficiency and implanting precision of the flexible electrode, and improve the repeatability of the flexible electrode implanting. The application comprises a base trolley, a mechanical arm and an electrode implanting device. The base trolley is used for carrying the mechanical arm and the electrode implanting device. The first end of the mechanical arm is mechanically connected to the base trolley, and the electrode implanting device is installed at the second end of the mechanical arm. The mechanical arm is used for driving the electrode implanting device to move. The electrode implanting device is used for grabbing the flexible electrode and implanting the flexible electrode into a target position.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a flexible electrode implantation robot, implantation method, device, medium and product. Background Technology

[0002] Flexible electrodes in brain-computer interfaces are characterized by their small size, softness, and flexibility, which can lead to problems during implantation such as difficulty in placement and removal, inaccurate positioning, inconsistent implantation depth, and damage to the flexible electrodes. Currently, the implantation of flexible electrodes mostly relies on manual or semi-automatic operation, resulting in low implantation efficiency, poor implantation accuracy, and poor repeatability, making it difficult to meet the needs of precise implantation of multi-channel flexible electrodes. Summary of the Invention

[0003] This invention provides a flexible electrode implantation robot, implantation method, device, medium, and product to address the shortcomings of low implantation efficiency, poor implantation accuracy, and poor repeatability of flexible electrodes in the prior art, thereby improving the implantation efficiency and accuracy of flexible electrodes and enhancing the repeatability of flexible electrode implantation.

[0004] This invention provides a flexible electrode implantation robot, comprising: a base trolley, a robotic arm, and an electrode implantation device; The base trolley is used to carry the robotic arm and electrode implantation device; The first end of the robotic arm is mechanically connected to the base trolley, and the electrode implantation device is installed at the second end of the robotic arm. The robotic arm is used to drive the movement of the electrode implantation device. Electrode implantation devices are used to grasp flexible electrodes and implant them into target locations.

[0005] According to the present invention, a flexible electrode implantation robot includes an electrode implantation device comprising: a three-axis adjustment stage, an instrument module, and an electrode delivery module. The three-axis adjustment stage is mechanically connected to the second end of a robotic arm, and the instrument module and the electrode delivery module are fixed on the three-axis adjustment stage. The three-axis adjustment stage is used to adjust the position of the instrument module and the electrode delivery module; The instrument module is used to grasp the flexible electrode; The electrode delivery module is used to deliver flexible electrodes to the location of the instrument module.

[0006] According to the present invention, a flexible electrode implantation robot has a three-axis adjustment stage comprising: a first linear motor, a second linear motor, a first piezoelectric ceramic motor, and a first support. The first linear motor is mechanically connected to the second end of the robotic arm, the second linear motor is mechanically connected to the first linear motor, the first piezoelectric ceramic motor is mechanically connected to the second linear motor, and the first support is mechanically connected to the second linear motor. The first linear motor is used to control the movement of the instrument module and the electrode delivery module in a first direction; The second linear motor is used to control the movement of the instrument module and the electrode delivery module in a second direction, which is perpendicular to the first and second directions. The first piezoelectric ceramic motor is used to control the relative position of the instrument module and the electrode delivery module in the vertical direction. The movement directions of the first piezoelectric ceramic motor, the first linear motor, and the second linear motor are perpendicular to each other. The first bracket is used to fix the electrode delivery module.

[0007] According to the present invention, a flexible electrode implantation robot has an instrument module comprising: a pusher motor, a force sensor, an implantation needle, and an elastic sleeve. The pusher motor is mechanically connected to the implantation needle, a force sensor is fixed on the implantation needle, and the implantation needle passes through the elastic sleeve. The pusher motor is used to drive the implantation needle to move axially; Force sensors are used to detect pressure parameters when the implantation needle is inserted into the flexible electrode; The flexible cannula is used in combination with the implantation needle to grasp and implant the flexible electrode.

[0008] According to the present invention, a flexible electrode implantation robot is provided with a spherical structure at a target distance between the implantation needle and the needle tip, and an opening is provided at the target end of the elastic sleeve. The target end is the end of the elastic sleeve close to the needle tip of the implantation needle. The spherical structure is used to control the size of the opening at the target end, and a slot is provided at the opening at the target end for gripping the flexible electrode.

[0009] According to the present invention, a flexible electrode implantation robot includes an electrode delivery module comprising: an electrode tray, a delivery rod, a delivery motor, a second piezoelectric ceramic motor, and a second support. The flexible electrode is fixed in the groove of the electrode fixing rod by a spring. The second support is fixed on the first support of the three-axis adjustment table. The delivery motor and the second piezoelectric ceramic motor are fixed on the second support. The delivery rod is mechanically connected to the delivery motor, and the electrode tray is fixedly connected to the second piezoelectric ceramic motor. The electrode tray is used to hold flexible electrodes; The delivery motor is used to drive the delivery rod to move, and the delivery rod is used to push the electrode fixing rod to move during the movement, so as to move the flexible electrode to the location of the implantation needle of the device module; The second piezoelectric ceramic motor is used to fix the electrode tray and move in a direction perpendicular to the delivery motor, so that the delivery rod selects different flexible electrodes and pushes the flexible electrodes to the location of the implantation needle of the instrument module.

[0010] This invention also provides a flexible electrode implantation method applied to a flexible electrode implantation robot. The flexible electrode implantation robot includes: a base trolley, a robotic arm, and an electrode implantation device. The electrode implantation device includes: a three-axis adjustment stage, a device module, and an electrode delivery module. The method includes: The delivery rod of the control electrode delivery module pushes the flexible electrode to the location of the implantation needle in the device module; The implantation needle and elastic cannula of the control device module grasp the flexible electrode; The implantation needle and elastic cannula of the control device module are used to implant the flexible electrode into the target location.

[0011] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the flexible electrode implantation methods described above.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the flexible electrode implantation methods described above.

[0013] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the flexible electrode implantation methods described above.

[0014] This invention provides a flexible electrode implantation robot, method, device, medium, and product. The flexible electrode implantation robot includes a base trolley, a robotic arm, and an electrode implantation device. The base trolley carries the robotic arm and the electrode implantation device, and the first end of the robotic arm is mechanically connected to the base trolley. The electrode implantation device is mounted on the second end of the robotic arm, thereby enabling the robotic arm to drive the electrode implantation device to move and to grasp the flexible electrode and implant it into the target location. By controlling the delivery rod of the electrode delivery module to move the flexible electrode to the location of the implantation needle in the device module, and controlling the implantation needle and elastic sleeve of the device module to grasp the flexible electrode, the flexible electrode can be implanted into the target location. This solves the defects of low implantation efficiency, poor implantation accuracy, and poor repeatability of flexible electrodes in the prior art, improving the implantation efficiency and accuracy of flexible electrodes and enhancing the repeatability of flexible electrode implantation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is one of the structural schematic diagrams of the flexible electrode implantation robot provided by the present invention.

[0017] Figure 2 This is the second structural schematic diagram of the flexible electrode implantation robot provided by the present invention.

[0018] Figure 3 This is the third structural schematic diagram of the flexible electrode implantation robot provided by the present invention.

[0019] Figure 4 This is the fourth structural schematic diagram of the flexible electrode implantation robot provided by the present invention.

[0020] Figure 5 This is the fifth structural schematic diagram of the flexible electrode implantation robot provided by the present invention.

[0021] Figure 6 This is the sixth structural schematic diagram of the flexible electrode implantation robot provided by the present invention.

[0022] Figure 7 This is a schematic flowchart of the flexible electrode implantation method provided by the present invention.

[0023] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] The following is combined with Figures 1 to 8 This invention describes the flexible electrode implantation robot, implantation method, device, medium, and product provided by the present invention.

[0026] The purpose of this invention is to provide a flexible electrode implantation robot and method. By combining a robotic arm, a three-axis adjustment stage, an instrument module, and an electrode delivery module, the robot achieves automatic delivery and precise implantation of flexible electrodes. This enables automatic delivery, precise alignment, and stable implantation of flexible electrodes, thereby improving implantation accuracy, efficiency, and safety.

[0027] Figure 1 This is one of the structural schematic diagrams of the flexible electrode implantation robot provided by the present invention, such as... Figure 1As shown, the flexible electrode implantation robot includes: a base trolley, a robotic arm, and an electrode implantation device; The base trolley is used to carry the robotic arm and electrode implantation device; The first end of the robotic arm is mechanically connected to the base trolley, and the electrode implantation device is installed at the second end of the robotic arm. The robotic arm is used to drive the movement of the electrode implantation device. Electrode implantation devices are used to grasp flexible electrodes and implant them into target locations.

[0028] In one possible implementation, the base trolley is a movable trolley, which may include multiple wheels to facilitate its movement.

[0029] In one possible implementation, the robotic arm may include multiple segments, each of which can rotate. The multiple robotic arms work together to move the electrode implantation device in any orientation and adjust the posture of the electrode implantation device, such as rotating the electrode implantation device.

[0030] This invention provides a flexible electrode implantation robot, method, device, medium, and product. The flexible electrode implantation robot includes a base trolley, a robotic arm, and an electrode implantation device. The base trolley carries the robotic arm and the electrode implantation device, and the first end of the robotic arm is mechanically connected to the base trolley. The electrode implantation device is mounted on the second end of the robotic arm, thereby enabling the robotic arm to drive the electrode implantation device to move and to grasp the flexible electrode and implant it into the target location. By controlling the delivery rod of the electrode delivery module to move the flexible electrode to the location of the implantation needle in the device module, and controlling the implantation needle and elastic sleeve of the device module to grasp the flexible electrode, the flexible electrode can be implanted into the target location. This solves the defects of low implantation efficiency, poor implantation accuracy, and poor repeatability of flexible electrodes in the prior art, improving the implantation efficiency and accuracy of flexible electrodes and enhancing the repeatability of flexible electrode implantation.

[0031] Figure 2 This is the second structural schematic diagram of the flexible electrode implantation robot provided by the present invention, as shown below. Figure 2 As shown, the electrode implantation device includes: a three-axis adjustment stage, an instrument module, and an electrode delivery module. The three-axis adjustment stage is mechanically connected to the second end of the robotic arm, and the instrument module and the electrode delivery module are fixed on the three-axis adjustment stage. The three-axis adjustment stage is used to adjust the position of the instrument module and the electrode delivery module; The instrument module is used to grasp the flexible electrode; The electrode delivery module is used to deliver flexible electrodes to the location of the instrument module.

[0032] In one possible implementation, such as Figure 2 As shown, the three-axis adjustment stage can be a high-precision three-axis adjustment stage, which can control the movement of the instrument module and electrode delivery module in any position.

[0033] In one possible implementation, a high-precision triaxial adjustment stage can finely adjust the movement distance when controlling the movement of the instrument module and the electrode delivery module.

[0034] Figure 3 This is the third structural schematic diagram of the flexible electrode implantation robot provided by the present invention, as shown below. Figure 3 As shown in the right figure, the three-axis adjustment table includes: a first linear motor (linear motor 1), a second linear motor (linear motor 2), a first piezoelectric ceramic motor (piezoelectric ceramic motor 1), and a first support (support 1). The first linear motor is mechanically connected to the second end of the robotic arm, the second linear motor is mechanically connected to the first linear motor, the first piezoelectric ceramic motor is mechanically connected to the second linear motor, and the first support is mechanically connected to the second linear motor. The first linear motor is used to control the movement of the instrument module and the electrode delivery module in a first direction; The second linear motor is used to control the movement of the instrument module and the electrode delivery module in a second direction, which is perpendicular to the first and second directions. The first piezoelectric ceramic motor is used to control the relative position of the instrument module and the electrode delivery module in the vertical direction. The movement directions of the first piezoelectric ceramic motor, the first linear motor, and the second linear motor are perpendicular to each other. The first bracket is used to fix the electrode delivery module.

[0035] In one possible implementation, such as Figure 3 As shown in the right figure, linear motor 1 controls the instrument module and electrode delivery module to move back and forth, while linear motor 2 controls their left and right movements. Through the cooperation of linear motors 1 and 2, the instrument module and electrode delivery module can be moved in any horizontal direction. Piezoelectric ceramic motor 1 is used to move the instrument module relative to the electrode delivery module in the vertical direction, thereby adjusting their relative positions.

[0036] like Figure 3 As shown in the left figure, the device module includes: a push needle motor, a force sensor, an implantation needle, and an elastic sleeve. The push needle motor is mechanically connected to the implantation needle, the force sensor is fixed on the implantation needle, and the implantation needle passes through the elastic sleeve. The pusher motor is used to drive the implantation needle to move axially; Force sensors are used to detect pressure parameters when the implantation needle is inserted into the flexible electrode; The flexible cannula is used in combination with the implantation needle to grasp and implant the flexible electrode.

[0037] In one possible implementation, the instrument module is fixedly connected to the piezoelectric ceramic motor 1, which enables synchronous movement of the implantation needle and the elastic cannula.

[0038] In one possible implementation, a spherical structure is provided at the target distance between the implantation needle and the needle tip, and an opening is provided at the target end of the elastic sleeve. The target end is the end of the elastic sleeve close to the needle tip of the implantation needle. The spherical structure is used to control the size of the opening at the target end, and a slot is provided at the opening at the target end for gripping the flexible electrode.

[0039] In one possible implementation, the opening at the target end comprises three parts: the first part connects to the body of the elastic sleeve, the second part lies between the first and third parts, and the third part is the top tip of the target end of the elastic sleeve. The opening sizes of the first and third parts are smaller than the opening size of the second part, which can be understood as a slot at the target end. A slope is provided in the transition area between the second and first parts, and a slope is provided in the transition area between the second and third parts.

[0040] In one possible implementation, since the implantation needle is provided with a spherical structure, and the diameter of the spherical structure is less than or equal to the opening size of the second part in the opening, the spherical structure will not cause the opening at the target end to undergo elastic deformation when the spherical structure on the implantation needle is located at the second part in the opening.

[0041] In one possible implementation, the diameter of the spherical structure is larger than the opening size of the first and third parts of the opening. Therefore, when the implantation needle is retracted by the push needle motor, the spherical structure can retract to the first part of the opening to expand the opening set at the target end, causing the opening set at the target end to undergo elastic deformation and the size of the opening to increase (i.e., the opening size of the second and third parts is larger than the size of the flexible electrode, such as the width), so that the flexible electrode can be located inside the opening to grasp the flexible electrode.

[0042] In one possible implementation, when grasping the flexible electrode, the implantation needle is extended by a pusher motor, and the tip of the implantation needle is inserted into the hole of the flexible electrode. As the spherical structure extends from the first part of the opening to the second part of the opening, the opening set at the target end recovers its elastic deformation and the size of the opening is restored, so the flexible electrode can be grasped through the slot.

[0043] In one possible implementation, after the implantation needle is retracted by the pusher motor and the spherical structure opens the opening at the target end, the device module (i.e., the implantation needle and the elastic sleeve) can be moved downwards as a whole by the piezoelectric ceramic motor 1 to grasp the flexible electrode. At this time, the pusher motor does not drive the implantation needle to move, that is, the implantation needle and the elastic sleeve are relatively stationary.

[0044] Figure 4 This is the fourth structural schematic diagram of the flexible electrode implantation robot provided by the present invention, as shown below. Figure 4 As shown, the electrode delivery module includes: an electrode tray, a delivery rod, a delivery motor, a second piezoelectric ceramic motor (piezoelectric ceramic motor 2), and a second bracket (bracket 2). The flexible electrode is fixed in the groove of the electrode fixing rod by a spring. The second bracket is fixed on the first bracket of the three-axis adjustment table. The delivery motor and the second piezoelectric ceramic motor are fixed on the second bracket. The delivery rod is mechanically connected to the delivery motor, and the electrode tray is fixedly connected to the second piezoelectric ceramic motor. The electrode tray is used to hold flexible electrodes; The delivery motor is used to drive the delivery rod to move, and the delivery rod is used to push the electrode fixing rod to move during the movement, so as to move the flexible electrode to the location of the implantation needle of the device module; The second piezoelectric ceramic motor is used to fix the electrode tray and move in a direction perpendicular to the delivery motor, so that the delivery rod selects different flexible electrodes and pushes the flexible electrodes to the location of the implantation needle of the instrument module. In one possible implementation, multiple flexible electrodes (including electrode fixing rods) can be pre-placed in an electrode tray.

[0045] In one possible implementation, the delivery rod includes an ejector component for pushing the electrode fixing rod and a pull rod component for retracting the electrode fixing rod. The ejector component is used to push out the corresponding flexible electrode (including the electrode fixing rod) when the delivery motor drives the delivery rod to move.

[0046] In one possible implementation, since the end of the electrode fixing rod away from the flexible electrode is provided with a groove, and one end of the pull rod component is provided with a protrusion, when the delivery rod is aligned with an electrode fixing rod, the ejector component can be aligned with the tail end of the electrode fixing rod (the end away from the flexible electrode), and the protrusion of the pull rod component can be inserted into the groove at one end of the electrode fixing rod. Thus, after the delivery motor drives the delivery rod to move, pushing the corresponding flexible electrode (including the electrode fixing rod) to the location of the implantation needle in the device module, the corresponding flexible electrode (including the electrode fixing rod) can be retracted by the protrusion of the pull rod component under the action of the delivery motor.

[0047] In one possible implementation, when the second piezoelectric ceramic motor moves the electrode tray, it can align the ejector of the delivery rod with the tail of the electrode fixing rod based on the position of the flexible electrode to be implanted (including the electrode fixing rod) in the electrode tray. This allows the flexible electrode to be implanted (including the electrode fixing rod) to be accurately ejected as the delivery motor moves the delivery rod.

[0048] In one possible implementation, during the actual operation of the flexible electrode implantation robot, the robotic arm first moves the electrode implantation device to the vicinity of the target area (the area where the flexible electrode is to be implanted), and then a high-precision three-axis adjustment stage performs precise alignment. Afterwards, the electrode delivery module delivers the flexible electrode to the implantation needle, and the needle pusher motor drives the implantation needle to complete electrode grasping and implantation. Once implantation is complete, the delivery rod retracts the current electrode fixing rod, and the piezoelectric ceramic motor 2 moves to align with the electrode fixing rod corresponding to the next electrode, completing the grasping and implantation of the next electrode.

[0049] In one possible implementation, Figure 5 This is the fifth structural schematic diagram of the flexible electrode implantation robot provided by the present invention, as shown below. Figure 5 As shown in step 1, during the electrode grasping and implantation process, the elastic sleeve is first aligned with the electrode hole. Then, the implantation needle is retracted. The opening (groove) at the target end of the elastic sleeve is compressed by the spherical structure on the implantation needle, causing elastic deformation and opening the elastic sleeve. The width of the opening is greater than the width of the electrode. Then, the elastic sleeve and the implantation needle are lowered synchronously to wrap the electrode. The implantation needle is then moved downwards (extended). The spherical structure on the implantation needle extends, causing the opening of the elastic sleeve to shrink. At the same time, the tip of the implantation needle inserts into the electrode hole, and the opening of the elastic sleeve clamps the electrode, completing the electrode grasping process, as shown in step 2.

[0050] Furthermore, such as Figure 5 As shown in step 2, after the implantation needle and elastic cannula are used to grasp the complete electrode, the implantation needle and elastic cannula are controlled to move synchronously towards the tissue to be implanted. Then, the implantation needle moves downward (extends) relative to the elastic cannula, and the electrode, using the inclined surface at the opening of the elastic cannula, is squeezed out of the elastic cannula by the implantation needle. At the same time, the implantation needle also squeezes out of the elastic cannula, completing the electrode implantation, as shown in step 3. At this point, controlling the implantation needle and elastic cannula to move synchronously away from the tissue to be implanted will leave the electrode in the tissue, completing the electrode implantation.

[0051] In one possible implementation, Figure 6 This is the sixth structural schematic diagram of the flexible electrode implantation robot provided by the present invention, as shown below. Figure 6 As shown, when removing the electrode from the electrode fixing rod, since the electrode is held tightly in the groove of the electrode fixing rod by a spring, therefore, according to Figure 5 As shown in step 2, when the implantation needle and the elastic cannula move synchronously closer to the tissue to be implanted, the electrode fixing rod is fixed and cannot move. The spring is subjected to force and undergoes elastic deformation, so the electrode can be removed from the electrode fixing rod.

[0052] Figure 7 This is a schematic flowchart of the flexible electrode implantation method provided by the present invention, as shown below. Figure 7 As shown, the flexible electrode implantation method is applied to a flexible electrode implantation robot, and the method includes the following: Step 701: Control the delivery rod of the electrode delivery module to push the flexible electrode to the location of the implantation needle of the device module.

[0053] Step 702: Control the implantation needle and elastic cannula of the control device module to grasp the flexible electrode.

[0054] Step 703: Control the implantation needle and elastic cannula of the instrument module to implant the flexible electrode into the target location.

[0055] In one possible implementation, during electrode grasping and implantation, the electrode delivery module is first moved to align the electrode to be implanted on the electrode tray with the elastic sleeve on the instrument module (i.e., aligning the elastic sleeve with the electrode hole). Then, the implantation needle is retracted. The opening (groove) at the target end of the elastic sleeve is compressed by the spherical structure on the implantation needle, causing elastic deformation and opening the elastic sleeve, with the opening width greater than the electrode width. The elastic sleeve and implantation needle are then lowered synchronously to enclose the electrode. The implantation needle is then moved downwards (extended), and the spherical structure on the implantation needle extends, causing the opening of the elastic sleeve to narrow. Simultaneously, the tip of the implantation needle inserts into the electrode hole, and the opening of the elastic sleeve clamps the electrode, completing the electrode grasping process.

[0056] Furthermore, after the implantation needle and elastic cannula are used to grasp the complete electrode, they are controlled to move synchronously towards the tissue to be implanted. Then, the implantation needle moves downward (extends) relative to the elastic cannula, and the electrode, using the inclined surface at the opening of the elastic cannula, is pushed out of the elastic cannula by the implantation needle, while the implantation needle also pushes out of the elastic cannula, completing the electrode implantation. At this point, controlling the implantation needle and elastic cannula to move synchronously away from the tissue to be implanted allows the electrode to remain in the tissue, completing the electrode implantation.

[0057] In one possible implementation, when the electrode is removed from the electrode fixing rod, since the electrode is held in place in the groove of the electrode fixing rod by a spring, when the implantation needle and the elastic cannula are moved synchronously towards the tissue to be implanted, the electrode fixing rod is fixed and cannot move, and the spring undergoes elastic deformation under force, thus removing the electrode from the electrode fixing rod.

[0058] Figure 8An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, communications interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logic instructions in the memory 830 to execute a flexible electrode implantation method, which includes: controlling the delivery rod of the electrode delivery module to push the flexible electrode to the position of the implantation needle of the instrument module; controlling the implantation needle and elastic cannula of the instrument module to grasp the flexible electrode; and controlling the implantation needle and elastic cannula of the instrument module to implant the flexible electrode into the target position.

[0059] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0060] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the flexible electrode implantation method provided by the above methods. The method includes: controlling the delivery rod of the electrode delivery module to push the flexible electrode to the position of the implantation needle of the instrument module; controlling the implantation needle and elastic sleeve of the instrument module to grasp the flexible electrode; and controlling the implantation needle and elastic sleeve of the instrument module to implant the flexible electrode into the target position.

[0061] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a flexible electrode implantation method provided by the above methods, the method comprising: controlling the delivery rod of the electrode delivery module to push the flexible electrode to the location of the implantation needle of the instrument module; controlling the implantation needle and elastic sleeve of the instrument module to grasp the flexible electrode; and controlling the implantation needle and elastic sleeve of the instrument module to implant the flexible electrode into the target location.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible electrode implantation robot, characterized in that, include: Base trolley, robotic arm, and electrode implantation device; The base trolley is used to carry the robotic arm and the electrode implantation device; The first end of the robotic arm is mechanically connected to the base trolley, and the electrode implantation device is installed at the second end of the robotic arm. The robotic arm is used to drive the electrode implantation device to move. The electrode implantation device is used to grasp a flexible electrode and implant the flexible electrode into a target location.

2. The flexible electrode implantation robot according to claim 1, characterized in that, The electrode implantation device includes: a three-axis adjustment platform, an instrument module, and an electrode delivery module. The three-axis adjustment platform is mechanically connected to the second end of the robotic arm, and the instrument module and the electrode delivery module are fixed on the three-axis adjustment platform. The three-axis adjustment stage is used to adjust the positions of the instrument module and the electrode delivery module; The instrument module is used to grasp the flexible electrode; The electrode delivery module is used to deliver the flexible electrode to the location of the instrument module.

3. The flexible electrode implantation robot according to claim 2, characterized in that, The three-axis adjustment platform includes: a first linear motor, a second linear motor, a first piezoelectric ceramic motor, and a first support. The first linear motor is mechanically connected to the second end of the robotic arm, the second linear motor is mechanically connected to the first linear motor, the first piezoelectric ceramic motor is mechanically connected to the second linear motor, and the first support is mechanically connected to the second linear motor. The first linear motor is used to control the movement of the instrument module and the electrode delivery module in a first direction; The second linear motor is used to control the movement of the instrument module and the electrode delivery module in a second direction, wherein the first direction and the second direction are perpendicular. The first piezoelectric ceramic motor is used to control the relative position of the instrument module and the electrode delivery module in the vertical direction, and the movement directions of the first piezoelectric ceramic motor, the first linear motor and the second linear motor are perpendicular to each other. The first bracket is used to fix the electrode delivery module.

4. The flexible electrode implantation robot according to claim 2, characterized in that, The device module includes: a push needle motor, a force sensor, an implantation needle, and an elastic sleeve. The push needle motor is mechanically connected to the implantation needle, the force sensor is fixed on the implantation needle, and the implantation needle passes through the elastic sleeve. The pusher motor is used to drive the implantation needle to move axially. The force sensor is used to detect the pressure parameters of the implantation needle when it is implanted into the flexible electrode; The elastic sleeve is used in combination with the implantation needle to grasp and implant the flexible electrode.

5. The flexible electrode implantation robot according to claim 4, characterized in that, A spherical structure is provided at the target distance between the implantation needle and the needle tip. An opening is provided at the target end of the elastic sleeve, which is the end of the elastic sleeve close to the needle tip of the implantation needle. The spherical structure is used to control the size of the opening at the target end. A slot is provided at the opening at the target end for gripping the flexible electrode.

6. The flexible electrode implantation robot according to claim 2, characterized in that, The electrode delivery module includes: an electrode tray, a delivery rod, a delivery motor, a second piezoelectric ceramic motor, and a second bracket. The flexible electrode is fixed in the groove of the electrode fixing rod by a spring. The second bracket is fixed on the first bracket of the three-axis adjustment table. The delivery motor and the second piezoelectric ceramic motor are fixed on the second bracket. The delivery rod is mechanically connected to the delivery motor. The electrode tray is fixedly connected to the second piezoelectric ceramic motor. The electrode tray is used to hold the flexible electrode; A delivery motor is used to drive the delivery rod to move, and the delivery rod is used to push the electrode fixing rod to move during the movement, so as to move the flexible electrode to the location of the implantation needle of the device module; The second piezoelectric ceramic motor is used to fix the electrode tray and move in a direction perpendicular to the delivery motor, so that the delivery rod selects different flexible electrodes and pushes the flexible electrodes to the location of the implantation needle of the instrument module.

7. A method for implanting a flexible electrode, characterized in that, A method for using a flexible electrode implantation robot, the flexible electrode implantation robot comprising: a base trolley, a robotic arm, and an electrode implantation device, the electrode implantation device comprising: a three-axis adjustment stage, a device module, and an electrode delivery module, the method comprising: The delivery rod of the electrode delivery module is controlled to push the flexible electrode to the location of the implantation needle of the instrument module; The implantation needle and elastic cannula of the device module are controlled to grasp the flexible electrode; The implantation needle and the elastic cannula of the instrument module are controlled to implant the flexible electrode into the target location.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the flexible electrode implantation method as described in claim 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the flexible electrode implantation method as described in claim 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the flexible electrode implantation method as described in claim 7.

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