Brain-computer interface electrode automatic implantation system

Abstract

The application relates to the technical field of brain-computer interface, and provides a brain-computer interface electrode automatic implantation system, which comprises a base, a motion positioning mechanism and an implantation execution mechanism, an instrument propulsion assembly is arranged in the motion positioning mechanism, an instrument assembly is arranged in the instrument propulsion assembly, the instrument propulsion assembly is configured to drive the instrument assembly to move in a first direction; a needle is connected to a first linear movement module and is arranged in a placing pipe, the first linear movement module is configured to drive the needle to move in the first direction, a rotary drive module is configured to drive the placing pipe to rotate relative to the needle; an electrode delivery assembly is configured to fix a plurality of electrodes and drive the plurality of electrodes to move in a second direction, and an individual electrode is released each time, and in the case that the needle is arranged in the electrode, the placing pipe can support or release the electrode. Under the premise of guaranteeing the structural integrity and stability of the electrode, the accurate and automatic implantation of the plurality of electrodes can be realized, so that the efficiency and accuracy of the electrode implantation are improved.

Description

Technical Field

[0001] This invention relates to the field of brain-computer interface technology, and in particular to an automated brain-computer interface electrode implantation system. Background Technology

[0002] Brain-computer interfaces (BCIs), also known as brain ports, are technologies that establish a direct communication channel between the human brain and external devices. By collecting and decoding brain signals, they enable users to control external devices with their thoughts or provide feedback stimulation to the brain, thereby replacing, restoring, or enhancing bodily functions. In the practical application of BCI technology, electrode implantation is crucial, requiring the precise delivery of extremely small and flexible electrodes to the target location. However, most current electrode implantation methods still rely on manual or semi-automatic operation, which brings a series of challenging problems. For example, due to the soft texture of the electrodes, they are prone to bending, tangling, or even damage during implantation; manually implanting electrodes one by one is extremely inefficient, and the repeatability of different batches is difficult to guarantee; especially when performing continuous implantation of multiple electrodes, the entire process becomes exceptionally complex, and the probability of error increases significantly. Summary of the Invention

[0003] This invention provides an automated brain-computer interface electrode implantation system that, while ensuring the structural integrity and stability of the electrodes themselves, enables the precise and automated implantation of multiple electrodes, thereby improving the efficiency and accuracy of electrode implantation.

[0004] This invention provides an automated brain-computer interface electrode implantation system, comprising: Base; A motion positioning mechanism, wherein the motion positioning mechanism is disposed on the base; An implantation actuator includes an instrument propulsion assembly, an electrode delivery assembly, and an instrument assembly. The instrument propulsion assembly is disposed on the motion positioning mechanism, and the instrument assembly is disposed on the instrument propulsion assembly via a first adapter. The instrument propulsion assembly is configured to drive the instrument assembly to move along a first direction. The instrument assembly includes a first linear motion module, a placement needle, a placement tube, and a rotation drive module. The placement needle is connected to the first linear motion module and passes through the placement tube. The first linear motion module is configured to drive the placement needle to move along the first direction, and the rotation drive module is configured to drive the placement tube to rotate relative to the placement needle. The electrode delivery assembly is disposed on the instrument propulsion assembly via a second adapter. The electrode delivery assembly is configured to fix multiple electrodes and drive the multiple electrodes to move along a second direction, releasing one electrode at a time. The first direction and the second direction are perpendicular. When the placement needle passes through the electrode, the placement tube can support or release the electrode.

[0005] According to the present invention, an automated brain-computer interface electrode implantation system includes a placement needle comprising a first axial segment and a second axial segment connected in sequence, wherein the diameter of the first axial segment is larger than the diameter of the second axial segment, the first axial segment is connected to a first linear motion module, and a stepped surface is formed between the first axial segment and the second axial segment; the placement tube includes a tube segment, a connecting portion extending from the tube segment along its axial direction, and a supporting portion extending from the connecting portion along its circumferential direction, wherein a gap is left between the supporting portion and the tube segment; wherein the electrode can be clamped between the stepped surface and the supporting portion.

[0006] According to the present invention, an automated brain-computer interface electrode implantation system is provided, wherein both the connecting part and the supporting part are arc-shaped, and the degree of curvature of the connecting part is the same as that of the supporting part.

[0007] According to the present invention, an automatic brain-computer interface electrode implantation system is provided, wherein the instrument propulsion assembly includes a lead screw, a first driving component, a transmission nut, and a lead screw fixing seat; The lead screw fixing seat is connected to the motion positioning mechanism, the lead screw is rotatably connected to the lead screw fixing seat, the transmission nut is threadedly connected to the lead screw, the first driving member is connected to the lead screw to drive the lead screw to rotate, and the transmission nut is connected to the first adapter seat.

[0008] According to the present invention, an automated brain-computer interface electrode implantation system is provided, wherein the first linear motion module is a piezoelectric ceramic motor, the instrument assembly further includes a force sensor, and the placement needle is connected to the piezoelectric ceramic motor through the force sensor.

[0009] According to the present invention, an automatic brain-computer interface electrode implantation system includes a rotation drive module comprising a second drive member, an active wheel, a driven wheel, and a connector. The active wheel is disposed at the output end of the second drive member, the driven wheel is sleeved on the placement tube, and the active wheel and the driven wheel are connected by transmission through the connector.

[0010] According to the present invention, an automated brain-computer interface electrode implantation system is provided, wherein the instrument assembly further includes a support member disposed on the first adapter seat, the support member having a through hole, and the placement tube passing through the through hole.

[0011] According to the present invention, an automated brain-computer interface electrode implantation system is provided, wherein the electrode delivery assembly includes a second linear motion module, an electrode holder, and an electrode stop bar. The electrode holder is disposed on a second adapter seat via the second linear motion module, and the electrode stop bar is disposed on the second adapter seat and configured to fix the electrode to the electrode holder. Under the drive of the second linear motion module, the electrode holder is capable of moving relative to the electrode stop bar in a second direction.

[0012] According to the present invention, an automatic brain-computer interface electrode implantation system is provided, wherein the electrode holder is provided with a plurality of electrode fixing slots, and the plurality of electrode fixing slots are arranged sequentially at intervals along the second direction.

[0013] According to the present invention, an automated brain-computer interface electrode implantation system includes a motion positioning mechanism comprising a third linear motion module, a fourth linear motion module, a fifth linear motion module, a first joint motor, and a second joint motor. The third linear motion module is disposed on the base, and the fifth linear motion module is connected to the third linear motion module through the fourth linear motion module to form three mutually perpendicular degrees of freedom of movement. The second joint motor is connected to the fifth linear motion module through the first joint motor to form two perpendicular degrees of freedom of rotation. The device propulsion assembly is disposed on the second joint motor.

[0014] The automatic implantation system for brain-computer interface electrodes provided by this invention can achieve precise and automatic implantation of multiple electrodes while ensuring the structural integrity and stability of the electrodes themselves. This improves the efficiency and accuracy of electrode implantation and provides strong technical support for the development of brain-computer interface technology. 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 a schematic diagram of the automatic implantation system for brain-computer interface electrodes provided by the present invention.

[0017] Figure 2 This is a schematic diagram of the implantation actuator provided by the present invention.

[0018] Figure 3 This is a schematic diagram of the structure provided by the present invention, in which a placement needle is inserted into a placement tube.

[0019] Figure 4 This is one of the schematic diagrams of the process of placing a needle through an electrode provided by the present invention.

[0020] Figure 5 This is the second schematic diagram of the process of placing the needle through the electrode provided by the present invention.

[0021] Figure 6 This is the third schematic diagram of the process of placing the needle through the electrode provided by the present invention.

[0022] Figure 7 This is a schematic diagram of the structure of the instrument propulsion assembly provided by the present invention.

[0023] Figure 8 This is a schematic diagram of the structure of the instrument assembly provided by the present invention.

[0024] Figure 9 This is a schematic diagram of the electrode delivery assembly provided by the present invention.

[0025] Figure 10 This is a schematic diagram of the cooperation between the electrode holder and the electrode stop provided by the present invention.

[0026] Figure 11 This is a schematic diagram of the motion positioning mechanism provided by the present invention.

[0027] Figure label: 1. Base; 2. Motion positioning mechanism; 21. Third linear motion module; 22. Fourth linear motion module; 23. Fifth linear motion module; 24. First joint motor; 25. Second joint motor; 3. Implantation actuator; 31. Instrument propulsion assembly; 311. Lead screw; 312. First drive component; 313. Transmission nut; 314. Lead screw fixing seat; 32. Electrode delivery assembly; 321. Second linear motion module; 322. Electrode holder; 323. Electrode stop bar; 33 331. Instrument assembly; 332. First linear motion module; 333. Needle placement; 3321. First shaft segment; 3322. Second shaft segment; 333. Placement tube; 3331. Tube segment; 3332. Connecting part; 3333. Support part; 334. Rotary drive module; 3341. Second drive component; 3342. Drive wheel; 3343. Driven wheel; 3344. Connecting component; 335. Force sensor; 336. Support component; 4. First adapter; 5. Second adapter; 6. Electrode. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly set on another component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to another component.

[0030] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0032] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0033] like Figure 1 and Figure 2As shown, the brain-computer interface electrode automatic implantation system of this invention includes a base 1, a motion positioning mechanism 2, and an implantation execution mechanism 3. The motion positioning mechanism 2 is disposed on the base 1. The implantation execution mechanism 3 includes an instrument propulsion assembly 31, an electrode delivery assembly 32, and an instrument assembly 33. The instrument propulsion assembly 31 is disposed on the motion positioning mechanism 2, and the instrument assembly 33 is disposed on the instrument propulsion assembly 31 via a first adapter 4. The instrument propulsion assembly 31 is configured to drive the instrument assembly 33 to move along a first direction (X-axis direction). The instrument assembly 33 includes a first linear motion module 331, a placement needle 332, a placement tube 333, and a rotation drive module 334. The electrode delivery assembly 32 is connected to the first linear motion module 331 and passes through the placement tube 333. The first linear motion module 331 is configured to drive the placement needle 332 to move along the first direction, and the rotation drive module 334 is configured to drive the placement tube 333 to rotate relative to the placement needle 332. The electrode delivery assembly 32 is disposed on the instrument propulsion assembly 31 through the second adapter 5. The electrode delivery assembly 32 is configured to fix multiple electrodes 6 and drive multiple electrodes 6 to move along the second direction (Y-axis direction), and release a single electrode 6 each time. The first direction and the second direction are perpendicular to each other. When the placement needle 332 passes through the electrode 6, the placement tube 333 can support or release the electrode 6.

[0034] It should be noted that the motion positioning mechanism 2, mounted on the base 1, is responsible for the precise positioning and attitude adjustment of the implantable actuator 3 in space to meet the needs of implanting the electrode 6 at different locations in the brain. The implantable actuator 3 is responsible for the delivery and implantation of the electrode 6. Specifically, the motion positioning mechanism 2, mounted on the base 1, has multi-degree-of-freedom motion capabilities. For example, it can translate in the X, Y, and Z directions and rotate around a specific axis, with the specific degrees of freedom determined according to actual design requirements. In this way, the motion positioning mechanism 2 can precisely control the position and attitude of the implantable actuator 3, ensuring that the electrode 6 accurately reaches the target implantation point.

[0035] Before starting the electrode 6 implantation operation, multiple electrodes 6 are first installed onto the electrode delivery assembly 32, and the electrodes 6 are ensured to be firmly fixed. Then, the motion positioning mechanism 2, the instrument propulsion assembly 31, the first linear motion module 331, the rotation drive module 334, and the electrode delivery assembly 32 are initialized, and the initial positions and states of each component are adjusted to put them into a standby state.

[0036] The electrode delivery assembly 32 begins operation, driving multiple electrodes 6 to move along the second direction to release a single electrode 6. The released electrode 6 is positioned corresponding to the placement needle 332, allowing the placement needle 332 to pass through it. At this time, the placement needle 332 and the placement tube 333 are in their initial positions.

[0037] The instrument propulsion assembly 31 begins operation, driving the placement tube 333 and placement needle 332 to move simultaneously along a first direction, so that the placement tube 333 reaches the location of the released electrode 6, at which point the placement needle 332 is located inside the placement tube 333. Subsequently, the first linear motion module 331 begins operation, driving the placement needle 332 to move relative to the placement tube 333 along the first direction, so that the placement needle 332 passes through the released electrode 6. Afterwards, the rotation drive module 334 begins operation, driving the placement tube 333 to rotate clockwise relative to the placement needle 332, so that the placement tube 333 can support the electrode 6.

[0038] Based on the pre-planned implantation location of electrode 6, the motion positioning mechanism 2 is controlled to move the implantation actuator 3 above the target location. During this process, the motion positioning mechanism 2 must ensure that the implantation actuator 3 can accurately reach the target location.

[0039] Once the implantation actuator 3 reaches the target position, the rotary drive module 334 starts working again, driving the placement tube 333 to rotate counterclockwise relative to the placement needle 332, so that the placement tube 333 can release the electrode 6. At the same time, the first linear motion module 331 starts working again, driving the placement needle 332 to move relative to the placement tube 333 in the first direction, so as to implant the electrode 6 into the target position.

[0040] After electrode 6 is implanted, the first linear motion module 331 drives the placement needle 332 to move again, exit the brain tissue and reset. At the same time, the electrode delivery assembly 32 prepares to deliver the next electrode 6, and the motion positioning mechanism 2 repositions itself according to the implantation position of the next electrode 6. The entire system enters the implantation cycle of the next electrode 6 until all electrodes 6 are implanted.

[0041] In this embodiment, while ensuring the structural integrity and stability of electrode 6 itself, multiple electrodes 6 can be accurately and automatically implanted, thereby improving the efficiency and accuracy of electrode 6 implantation and providing strong technical support for the development of brain-computer interface technology.

[0042] In optional embodiments, such as Figure 3As shown, the placement needle 332 includes a first shaft segment 3321 and a second shaft segment 3322 connected in sequence. The diameter of the first shaft segment 3321 is larger than the diameter of the second shaft segment 3322. The first shaft segment 3321 is connected to the first linear motion module 331. A stepped surface is formed between the first shaft segment 3321 and the second shaft segment 3322. The placement tube 333 includes a tube segment 3331, a connecting portion 3332 extending from the tube segment 3331 in its axial direction, and a support portion 3333 extending from the connecting portion 3332 in its circumferential direction. A gap is left between the support portion 3333 and the tube segment 3331. The electrode 6 can be clamped between the stepped surface and the support portion 3333.

[0043] like Figure 4 As shown, the instrument propulsion assembly 31 starts to work, which drives the placement tube 333 and the placement needle 332 to move simultaneously along the first direction, so that the connecting part 3332 and the supporting part 3333 of the placement tube 333 reach the position of the released electrode 6. At this time, the placement needle 332 is located in the tube segment 3331 of the placement tube 333.

[0044] like Figure 5 As shown, the first linear motion module 331 starts working, driving the placement needle 332 to move relative to the placement tube 333 along a first direction, so that the second shaft segment 3322 of the placement needle 332 passes through the released electrode 6. The end of the second shaft segment 3322 is a tip.

[0045] like Figure 6 As shown, the rotary drive module 334 starts working, driving the placement tube 333 to rotate clockwise relative to the placement pin 332, so that the electrode 6 is located between the step surface and the support 3333.

[0046] To avoid interference between the movement of the placement tube 333 and the electrode 6, in practical applications, such as... Figure 3 As shown, both the connecting part 3332 and the supporting part 3333 are arc-shaped, and the degree of curvature of the connecting part 3332 is the same as that of the supporting part 3333. In addition, the pipe section 3331, the connecting part 3332 and the supporting part 3333 are an integral structure.

[0047] In optional embodiments, such as Figure 7 As shown, the instrument propulsion assembly 31 includes a lead screw 311, a first drive member 312, a transmission nut 313, and a lead screw fixing seat 314. The lead screw fixing seat 314 is connected to the motion positioning mechanism 2. The lead screw 311 is rotatably connected to the lead screw fixing seat 314. The transmission nut 313 is threadedly connected to the lead screw 311. The first drive member 312 is connected to the lead screw 311 to drive the lead screw 311 to rotate. The transmission nut 313 is connected to the first adapter seat 4. The electrode delivery assembly 32 is mounted on the lead screw fixing seat 314 via a second adapter seat 5.

[0048] It should be noted that the first driving component 312 can be a stepper motor. To ensure the smooth movement of the first adapter 4, the instrument propulsion assembly 31 may also include a linear guide and a slider that are slidably engaged. For example, the linear guide is disposed on the lead screw fixing seat 314, while the slider is disposed on the first adapter 4.

[0049] In practical applications, such as Figure 8 As shown, the first linear motion module 331 is a piezoelectric ceramic motor, and the instrument assembly 33 also includes a force sensor 335. The placement needle 332 is connected to the piezoelectric ceramic motor through the force sensor 335.

[0050] Specifically, the piezoelectric ceramic motor, as the first linear motion module 331, utilizes the inverse piezoelectric effect of piezoelectric ceramics to achieve linear motion. The piezoelectric ceramic motor is fixed to the first adapter 4 to ensure smooth, vibration-free movement. A connecting bracket is used to connect one end of the force sensor 335 to the output shaft of the piezoelectric ceramic motor, ensuring a tight, secure connection. The placement pin 332 is then connected to the other end of the force sensor 335, ensuring that the placement pin 332 can move with the movement of the piezoelectric ceramic motor.

[0051] In optional embodiments, such as Figure 8 As shown, the rotary drive module 334 includes a second drive member 3341, a drive wheel 3342, a driven wheel 3343, and a connector 3344. The drive wheel 3342 is located at the output end of the second drive member 3341, and the driven wheel 3343 is sleeved on the placement tube 333. The drive wheel 3342 and the driven wheel 3343 are connected by the connector 3344.

[0052] Specifically, the second drive component 3341 is typically a servo motor or a stepper motor. Both the driving pulley 3342 and the driven pulley 3343 can be synchronous belt pulleys, and correspondingly, the connecting component 3344 can be a synchronous belt.

[0053] In practical applications, the second driving component 3341 receives a command and starts, causing the driving wheel 3342, which is fixed to it, to rotate. The driving wheel 3342 drives the connecting component 3344 to move through friction or meshing. The connecting component 3344 drives the driven wheel 3343 to rotate. The driven wheel 3343 drives the placement tube 333, which is fixed to it, to rotate around its axis.

[0054] To effectively address the deflection and deformation problem of the placement tube 333 during rotation and propulsion, in optional embodiments, such as... Figure 8As shown, the instrument assembly 33 also includes a support member 336, which is disposed on the first adapter 4. The support member 336 has a through hole through which the placement tube 333 passes. It should be noted that the diameter of the through hole is slightly larger than the outer diameter of the placement tube 333, allowing the placement tube 333 to rotate freely and move axially, while limiting its large radial displacement.

[0055] In optional embodiments, such as Figure 9 and Figure 10 As shown, the electrode delivery assembly 32 includes a second linear motion module 321, an electrode holder 322, and an electrode stop bar 323. The electrode holder 322 is disposed on the second adapter 5 via the second linear motion module 321. The electrode stop bar 323 is disposed on the second adapter 5 and configured to fix the electrode 6 to the electrode holder 322. Under the drive of the second linear motion module 321, the electrode holder 322 can move relative to the electrode stop bar 323 along the second direction (Y-axis direction).

[0056] It should be noted that the second linear motion module 321 can be a linear motor. In practical applications, the electrode holder 322 is provided with multiple electrode fixing slots, which are arranged sequentially at intervals along the second direction. For example, when the electrode 6 is placed in the electrode fixing slot, the surface of the electrode 6 is flush with the side of the electrode holder 322 where the electrode fixing slot is provided. Correspondingly, the electrode stop 323 can be fitted against the side of the electrode holder 322 where the electrode fixing slot is provided, thereby ensuring that the electrode 6 is stably placed in the electrode fixing slot.

[0057] In practical applications, in the initial state, the electrode stop 323 can abut against the electrode 6 located in each electrode fixing slot, thereby ensuring that each electrode 6 is stably located in the corresponding electrode fixing slot. When it is necessary to remove an electrode 6, the second linear motion module 321 drives the electrode holder 322 to move relative to the electrode stop 323 in the second direction. At this time, the outermost electrode 6 located on the electrode holder 322 is misaligned with the electrode stop 323, that is, the outermost electrode 6 is in the released state.

[0058] In optional embodiments, such as Figure 11As shown, the motion positioning mechanism 2 includes a third linear motion module 21, a fourth linear motion module 22, a fifth linear motion module 23, a first joint motor 24, and a second joint motor 25. The third linear motion module 21 is mounted on the base 1. The fifth linear motion module 23 is connected to the third linear motion module 21 through the fourth linear motion module 22 to form three mutually perpendicular degrees of freedom of movement. The second joint motor 25 is connected to the fifth linear motion module 23 through the first joint motor 24 to form two mutually perpendicular degrees of freedom of rotation. The lead screw fixing seat 314 of the instrument propulsion assembly 31 is mounted on the second joint motor 25. It should be noted that the third linear motion module 21 and the fourth linear motion module 22 can both be linear motors, and the fifth linear motion module 23 can be a lead screw 311 module.

[0059] Specifically, the third linear motion module 21 is fixed to the base 1, providing linear freedom along the X-axis. The fourth linear motion module 22 is connected to the third linear motion module 21, providing linear freedom along the Y-axis. The fifth linear motion module 23 is connected to the fourth linear motion module 22, providing linear freedom along the Z-axis. This forms an XYZ three-axis orthogonal linear platform, capable of being positioned at any point in the workspace. The first articulated motor 24 is connected to the fifth linear motion module 23, providing rotational freedom around the X-axis. The second articulated motor 25 is connected to the output of the first articulated motor 24, providing rotational freedom around the Y-axis.

[0060] Finally, it should be noted that the terms "parallel" and "perpendicular" in the embodiments of this invention should not be strictly limited to a geometric sense. At least manufacturing and installation errors should be considered. For example, an error of ±10° should be within the protection range of the embodiments of this invention. The above embodiments are only used to illustrate the technical solutions of this invention, and not to limit it. Although the 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. 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 this invention.

Claims

1. An automated brain-computer interface electrode implantation system, characterized in that, include: Base (1); Motion positioning mechanism (2), the motion positioning mechanism (2) is disposed on the base (1); An implantation actuator (3) is provided, comprising an instrument propulsion assembly (31), an electrode delivery assembly (32), and an instrument assembly (33). The instrument propulsion assembly (31) is disposed on the motion positioning mechanism (2), and the instrument assembly (33) is disposed on the instrument propulsion assembly (31) via a first adapter (4). The instrument propulsion assembly (31) is configured to drive the instrument assembly (33) to move along a first direction. The instrument assembly (33) comprises a first linear motion module (331), a placement needle (332), a placement tube (333), and a rotation drive module (334). The placement needle (332) is connected to the first linear motion module (331) and passes through the placement tube (333). The first linear motion module (331) is configured to drive the placement needle (332) to move along the first direction, and the rotation drive module (334) is configured to drive the placement tube (333) to rotate relative to the placement needle (332); the electrode delivery assembly (32) is disposed on the instrument propulsion assembly (31) via the second adapter (5), and the electrode delivery assembly (32) is configured to fix a plurality of electrodes (6) and drive the plurality of electrodes (6) to move along the second direction, and release a single electrode (6) at a time, wherein the first direction and the second direction are perpendicular; wherein, when the placement needle (332) passes through the electrode (6), the placement tube (333) can support or release the electrode (6); The placement needle (332) includes a first shaft segment (3321) and a second shaft segment (3322) connected in sequence. The diameter of the first shaft segment (3321) is larger than the diameter of the second shaft segment (3322). The first shaft segment (3321) is connected to the first linear motion module (331). A stepped surface is formed between the first shaft segment (3321) and the second shaft segment (3322). The placement tube (333) includes a tube segment (3331), a connecting portion (3332) extending from the tube segment (3331) in its axial direction, and a support portion (3333) extending from the connecting portion (3332) in its circumferential direction. A gap is left between the support portion (3333) and the tube segment (3331). The electrode (6) can be clamped between the stepped surface and the support portion (3333).

2. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, Both the connecting part (3332) and the supporting part (3333) are arc-shaped, and the degree of curvature of the connecting part (3332) is the same as that of the supporting part (3333).

3. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The instrument propulsion assembly (31) includes a lead screw (311), a first drive member (312), a transmission nut (313), and a lead screw fixing seat (314). The lead screw fixing seat (314) is connected to the motion positioning mechanism (2), the lead screw (311) is rotatably connected to the lead screw fixing seat (314), the transmission nut (313) is threadedly connected to the lead screw (311), the first driving member (312) is connected to the lead screw (311) to drive the lead screw (311) to rotate, and the transmission nut (313) is connected to the first adapter seat (4).

4. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The first linear motion module (331) is a piezoelectric ceramic motor, and the instrument assembly (33) also includes a force sensor (335). The placement needle (332) is connected to the piezoelectric ceramic motor through the force sensor (335).

5. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The rotary drive module (334) includes a second drive member (3341), a drive wheel (3342), a driven wheel (3343), and a connector (3344). The drive wheel (3342) is located at the output end of the second drive member (3341), and the driven wheel (3343) is sleeved on the placement tube (333). The drive wheel (3342) and the driven wheel (3343) are connected by the connector (3344).

6. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The instrument assembly (33) further includes a support member (336), which is disposed on the first adapter (4). The support member (336) has a through hole, through which the placement tube (333) passes.

7. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The electrode delivery assembly (32) includes a second linear motion module (321), an electrode holder (322), and an electrode stop (323). The electrode holder (322) is disposed on the second adapter (5) via the second linear motion module (321). The electrode stop (323) is disposed on the second adapter (5) and configured to fix the electrode (6) to the electrode holder (322). Under the drive of the second linear motion module (321), the electrode holder (322) can move relative to the electrode stop (323) in the second direction.

8. The brain-computer interface electrode automatic implantation system according to claim 7, characterized in that, The electrode holder (322) is provided with a plurality of electrode fixing slots, which are arranged sequentially at intervals along the second direction.

9. The brain-computer interface electrode automatic implantation system according to claim 1, characterized in that, The motion positioning mechanism (2) includes a third linear motion module (21), a fourth linear motion module (22), a fifth linear motion module (23), a first joint motor (24), and a second joint motor (25). The third linear motion module (21) is disposed on the base (1). The fifth linear motion module (23) is connected to the third linear motion module (21) through the fourth linear motion module (22) to form three mutually perpendicular degrees of freedom of movement. The second joint motor (25) is connected to the fifth linear motion module (23) through the first joint motor (24) to form two mutually perpendicular degrees of freedom of rotation. The instrument propulsion component (31) is disposed on the second joint motor (25).

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