Visual ranging and positioning system and electrode pushing device for electrocochleography examination

Abstract

The application relates to the technical field of medical devices, and discloses a visual distance measuring and positioning system for electrocochleography examination and an electrode pushing device, wherein the system is connected with the electrode pushing device provided with a miniature camera, a miniature distance measuring sensor and a miniature motor, and comprises a visual acquisition module, a distance measuring and positioning module, a pushing control module, a safety limiting module and a display interaction module. The distance measuring and positioning module calculates the remaining distance from the electrode conductive contact end to the tympanic membrane according to the obtained distance data, a structure compensation amount and a dynamic extension length calculated by controlling pulses; the pushing control module drives the miniature motor to push based on the remaining distance; and the safety limiting module executes a limiting instruction in combination with the remaining distance, a distance fluctuation change amount and a pushing resistance estimation value. Through the fusion of optical sensing data, mechanical displacement calculation and a multi-dimensional monitoring limiting mechanism, the application realizes accurate hovering control of the electrode depth and soft tissue protection in the operation process.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a visual ranging and positioning system and electrode propulsion device for cochlear electrography examination. Background Technology

[0002] Currently, electrocochleography (ECG) is an important diagnostic tool in clinical audiology. This technique primarily records the electrophysiological responses of the cochlea and auditory nerve, serving as an adjunct to the diagnosis of inner ear diseases such as Meniere's disease. During the acquisition of physiological electrical signals, the placement of the electrodes has a decisive impact on signal quality. The external auditory canal is a narrow space with limited natural light. The tympanic membrane and surrounding tissues are extremely sensitive to mechanical touch.

[0003] For the aforementioned electrocochleography (ECG) examination, the standard procedure typically involves manual electrode placement. Medical staff use an otoscope or headlamp for external light. The operator holds the slender acquisition electrode and slowly pushes it inward along the patient's external auditory canal. During this process, the operator visually observes the displacement of the electrode shaft relative to the ear canal opening and uses the resistance felt by the fingertips to determine the insertion depth. When the tip of the electrode is determined to be close to the designated area near the tympanic membrane, the operator stops pushing and then fixes the electrode for subsequent electrophysiological signal recording.

[0004] Current electrode placement methods rely on subjective touch, making it difficult to precisely quantify the actual distance between the electrode tip and the tympanic membrane. The randomness of the positioning depth results in discrete test positions. This positional variation causes fluctuations in contact impedance, leading to higher baseline noise in the acquired physiological electrical signals. The external auditory canal has specific physiological curvatures. Conventional external lighting can easily obstruct the field of vision, making it difficult for doctors to observe the anatomical structures at the electrode tip in real time. Manual advancement lacks active safety blocking mechanisms. Patients may experience unexpected positional movements during the examination. If the operator's perception of changes in distance or tactile resistance is delayed, overshooting at the electrode tip is likely. Due to the lack of multi-dimensional monitoring of environmental changes and advancement forces, this method struggles to prevent excessive thrust, posing a physical risk of soft tissue damage.

[0005] Therefore, the present invention provides a visual ranging and positioning system and an electrode advancement device for cochlear electrographography examination to overcome the shortcomings of the prior art. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a visual ranging and positioning system and an electrode advancement device for cochlear electrography examination. This solves the problem that existing cochlear electrography examinations lack precise visual ranging and positioning and active safety limiting mechanisms during electrode advancement, leading to unstable quality of physiological electrical signal extraction and easy damage to human soft tissues.

[0007] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a visual ranging and positioning system for cochlear electrograph examination, which adopts the following technical solution: A visual ranging and positioning system for cochlear electrographography (EEG) examination, the system being communicatively connected to an electrode propulsion device comprising an electrode assembly having a front-end guide portion and conductive electrode contacts, a miniature camera, a miniature ranging sensor, a miniature motor, and a current detection unit; the system includes: The visual acquisition module is used to process and acquire image information of the external auditory canal and tympanic membrane; The ranging and positioning module is used to form the remaining distance from the electrode conductive contact end to the tympanic membrane target surface based on the distance data obtained by the miniature ranging sensor, the preset structural compensation amount, and the dynamic extension length calculated based on the cumulative value of the output control pulses. The propulsion control module is used to generate propulsion status data based on the remaining distance and the preset target safety distance, and to output control pulses to the micro motor; The safety limit module is used to generate a stop propulsion command and limit prompt data based on the remaining distance, the distance fluctuation change formed by the distance data based on adjacent sampling periods, and the estimated propulsion resistance calculated based on the operating current of the micro motor collected by the current detection unit, and output the stop propulsion command to the propulsion control module. The display interaction module is used to display the image information of the external auditory canal and tympanic membrane, the remaining distance, the advancement status data, and the limit prompt data.

[0008] By adopting the above technical solution, the remaining distance can be calculated by combining photoelectric ranging with mechanical propulsion parameters calculated based on the cumulative value of the output control pulses, and multi-dimensional limit monitoring based on the remaining distance, distance fluctuation change and propulsion resistance estimate can be introduced. Therefore, it is possible to improve the electrode positioning accuracy and ensure the safety of soft tissue during operation.

[0009] Preferably, the visual acquisition module performs visual acquisition specifically including: Image information of the external auditory canal wall, image information of the tympanic membrane region, and image information of the front end position of the conductive contact of the electrode are segmented and extracted; The external auditory canal wall image information, the tympanic membrane region image information, and the anterior position image information are output as the external auditory canal and tympanic membrane image information to the display interaction module.

[0010] By adopting the above technical solution, the features of the target area can be stripped and integrated, providing an intuitive reference for the location of anatomical structures.

[0011] Preferably, the ranging and positioning module forms the remaining distance by: Receive distance data from the distal end face of the front guide portion to the target surface of the tympanic membrane, which is continuously acquired by the miniature ranging sensor; The cumulative value of the control pulses output by the propulsion control module is obtained, and the dynamic extension length is calculated by combining it with the preset single pulse propulsion amount. In the initial state, the dynamic extension length is zero. The difference is obtained by subtracting the dynamic extension length and the structural compensation amount from the distance data, and this difference is used as the remaining distance from the electrode conductive contact end to the tympanic membrane target surface; The remaining distance is output to the propulsion control module and the safety limit module.

[0012] By adopting the above technical solution, the dynamic extension length is calculated by the cumulative value of the output control pulse and the single pulse propulsion amount. Combined with distance data and structural compensation amount, dynamic displacement calculation is performed, thereby eliminating the blind zone limitation of single sensor optical ranging and realizing the dynamic calculation of electrode spatial position.

[0013] Preferably, the ranging and positioning module generates the structural compensation amount specifically by: Receive calibration distance data from the distal end face of the front guide to the calibration target surface during calibration; The calibration extension length of the electrode assembly extending beyond the distal end face of the front guide portion during the calibration state is received, as well as the actual distance data from the conductive contact end of the electrode to the calibration target surface; The result is obtained by subtracting the sum of the calibration extension length and the actual distance data from the calibration distance data, and this result is used as the structural compensation amount and stored.

[0014] By adopting the above technical solution, the mechanical zero-position tolerance caused by system assembly is eliminated, and the physical benchmark for absolute distance calculation is established.

[0015] Preferably, the propulsion control module generates the control pulse specifically by: Receive the remaining distance and the target safe distance, and compare the remaining distance with the target safe distance; When the remaining distance is greater than the target safety distance, the difference between the remaining distance and the target safety distance is calculated, and the difference is divided by a preset single-pulse propulsion amount to obtain the required number of control pulses, forming the control pulses for the current control cycle, and the control pulses are output to the micro motor. When the remaining distance is less than or equal to the target safety distance, propulsion status data corresponding to the stop propulsion state is generated, and the output of control pulses to the micro motor is stopped.

[0016] By adopting the above technical solution, a quantitative conversion mechanism from spatial difference to electrical signal is constructed to achieve servo position control and hovering when approaching the target area.

[0017] Preferably, the display interaction module performs display interaction specifically including: The system displays the external auditory canal and tympanic membrane image information, the distance data, the remaining distance, the advancement status data, and the limit prompt data. Receive user input commands such as advance commands, retraction commands, distance measurement commands, and lighting commands; The propulsion command and the retraction command are output to the propulsion control module, the ranging command is output to the ranging and positioning module, and the lighting command is output to the visual acquisition module.

[0018] By adopting the above technical solutions, a data communication channel is established to ensure the updating of equipment operating status and the distribution of underlying control commands.

[0019] Preferably, the safety limit module generates the stop propulsion command specifically including: The remaining distance is compared with the target safe distance, and a stop-advance command is generated when the remaining distance is less than or equal to the target safe distance. The distance fluctuation change is formed by the absolute difference between two consecutive distance data acquired in adjacent sampling periods. The distance fluctuation change is compared with a preset distance fluctuation threshold. When the distance fluctuation change exceeds the distance fluctuation threshold, a stop propulsion command is generated. The system receives the operating current of the micro motor in the propulsion state collected by the current detection unit, subtracts a preset no-load reference current from the operating current to obtain the effective working current increment, multiplies the effective working current increment by a preset current resistance conversion coefficient to obtain the propulsion resistance estimate, compares the propulsion resistance estimate with a preset resistance threshold, and generates a stop propulsion command when the propulsion resistance estimate exceeds the resistance threshold. The generated stop propulsion command is output to the propulsion control module, and the corresponding limit prompt data is output to the display interaction module.

[0020] By adopting the above technical solution, a defense line is established from three dimensions: spatial location, sudden environmental changes, and physical resistance. By outputting a stop propulsion command to the propulsion control module, the propulsion control module stops outputting control pulses to the micro motor, thereby cutting off the overload power output.

[0021] Secondly, the present invention provides an electrode advancement device for cochlear electrograph examination, which adopts the following technical solution: An electrode propulsion device for cochlear electrographing, operating based on a visual ranging and positioning system for cochlear electrographing as described in the first aspect, includes a handheld body, a front guide portion connected to the front end of the handheld body, an electrode assembly passing through the handheld body and the front guide portion, and an electrode conductive contact terminal provided at the front end of the electrode assembly. The front end area of ​​the front guide is equipped with a miniature camera, an LED light, and a miniature ranging sensor. The handheld main body is equipped with a micro motor, a current detection unit and a communication control board. The output shaft of the micro motor is connected to a lead screw through a coupling. A slider is fitted on the lead screw. The slider is connected to a connecting rod. The connecting rod is connected to the electrode assembly. The miniature camera, the miniature ranging sensor, the miniature motor, and the current detection unit are all electrically connected to the communication control board.

[0022] By adopting the above technical solution, image acquisition, distance sensing, current detection and electromechanical transmission structure are integrated into one, providing a hardware foundation for the control system to acquire image information, distance data, operating current and execute propulsion control.

[0023] Preferably, the slider is sleeved on the lead screw and is threaded into the lead screw; When the micro motor rotates in the forward direction, the coupling drives the lead screw to rotate in the forward direction, the lead screw drives the slider to move towards the front guide part, and the slider pushes the electrode assembly to extend forward along the front guide part through the connecting rod; When the micro motor rotates in the reverse direction, the coupling drives the lead screw to rotate in the reverse direction, the lead screw drives the slider to move towards the rear end of the handheld body, and the slider pulls the electrode assembly back through the connecting rod.

[0024] By adopting the above technical solution, rotational motion is converted into linear translation, and mechanical self-locking of the transmission process is achieved by using a threaded structure.

[0025] Preferably, the miniature camera, the LED light, and the miniature ranging sensor are arranged in a circular array around the circumference of the electrode assembly; The observation direction of the miniature camera, the illumination direction of the LED light, and the ranging direction of the miniature ranging sensor are all directed toward the far end of the front guide. The illumination direction of the LED light is matched with the observation direction of the miniature camera; The ranging direction of the miniature ranging sensor is parallel to the axial propulsion direction of the electrode assembly.

[0026] By adopting the above technical solution, the miniature camera, LED lighting, and miniature ranging sensor are arranged in a ring array around the electrode assembly, and the observation direction, lighting direction, and ranging direction are all oriented towards the far end of the front guide. This ensures that the visual observation, lighting supplement, and ranging detection are coordinated with the electrode propulsion direction, reduces spatial parallax interference, and ensures the accuracy of distance parameter acquisition.

[0027] This invention provides a visual ranging and positioning system and an electrode advancement device for cochlear electrography. It has the following beneficial effects: 1. This invention acquires distance data using a miniature ranging sensor and, combined with a pre-set structural compensation amount and the dynamically extended electrode length calculated from the control pulses of a micro-motor, calculates the remaining distance from the conductive contact end of the electrode to the tympanic membrane. This allows for the control of a micro-motor-driven lead screw and slider mechanism for displacement propulsion. By integrating optical sensing data with mechanical displacement calculation, the electrode automatically hovers at a preset safe distance from the tympanic membrane, overcoming the limitations of traditional manual propulsion depth control, ensuring consistent testing positions, and reducing baseline noise during physiological signal extraction.

[0028] 2. This invention constructs a multi-dimensional safety limiting mechanism. The safety limiting module not only compares the remaining distance with the target safe distance, but also monitors the distance fluctuation changes in adjacent sampling periods in real time to cope with sudden displacements during the test. Simultaneously, it extracts the operating current of the micromotor to calculate the estimated propulsion resistance value to determine whether there is a physical obstruction in front of the electrode. When any of the above parameters exceeds a preset threshold, the system immediately generates a command to stop the micromotor. This can promptly interrupt the power output of the electrode from three levels: spatial position, sudden environmental changes, and physical force, preventing the electrode from causing physical damage to the tympanic membrane and soft tissue of the external auditory canal.

[0029] 3. This invention integrates a miniature camera and lighting components into the front guide section of the electrode advancement device. The visual acquisition module segments the acquired video stream, extracting image information of the external auditory canal wall, tympanic membrane region, and electrode tip position. The image, remaining distance, and advancement status are simultaneously displayed through the display interaction module. This provides operators with an intuitive view of the internal anatomical structure of the ear canal and quantified distance feedback parameters, enabling visual monitoring of the electrode advancement process and facilitating accurate issuance of subsequent action commands based on comprehensive feedback data. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall architecture of the visual ranging and positioning system for cochlear electrograph examination according to the present invention. Figure 2 This is a perspective view of the overall structure of the electrode advancement device for cochlear electrograph examination according to the present invention; Figure 3 For the present invention Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a schematic diagram of the internal cross-sectional structure of the electrode propulsion device for cochlear electrograph examination according to the present invention; Figure 5 This is the main flowchart of the electrode-visible ranging, positioning, and propulsion control method of the present invention; Figure 6 This is a graph showing the relationship between the estimated propulsion distance and propulsion resistance of the present invention. Figure 7 This is a comparative distribution diagram of baseline noise and security indicators for different groups of signals in this invention.

[0031] The components include: 1. Handheld main body; 2. Front guide part; 3. Electrode assembly; 4. Electrode conductive contact end; 5. Miniature camera; 6. LED light; 7. Miniature ranging sensor; 8. Miniature motor; 9. Coupling; 10. Lead screw; 11. Slider; 12. Connecting rod; 13. Operation button; 14. Communication connector; 15. Main control host computer; and 16. Flexible cable. Detailed Implementation

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] See attached document Figure 1 The present invention provides a visual ranging and positioning system for cochlear electrograph examination, which may include a visual acquisition module, a ranging and positioning module, a propulsion control module, a safety limit module, and a display and interaction module.

[0034] The visual acquisition module is equipped with a digital image processing unit and a high-speed cache. The digital image processing unit is built using a Field-Programmable Gate Array (FPGA) with a hardware floating-point accelerated instruction set or a dedicated digital signal processor (DSP). The high-speed cache uses dual-port static random access memory (SRAM) or synchronous dynamic random access memory (SDRAM) to meet the non-blocking throughput requirements of high-resolution video frames. The visual acquisition module receives a continuous stream of digital video data from an external optical sensor. This data stream typically follows the MIPI CSI-2 standard protocol and contains raw image data in Bayer format. The visual acquisition module calls internal image segmentation and filtering algorithms to perform edge extraction and region division operations on the digital video data stream. During this process, color space conversion is first performed, mapping the image from the RGB color space to the HSV or YUV color space to separate the luminance and chrominance components. The visual acquisition module segments and extracts image information of the external auditory canal wall, tympanic membrane region, and the front-end position image information of the electrode conductive contact ends. The visual acquisition module integrates the image information of the external auditory canal wall, the tympanic membrane region, and the anterior position into an image of the external auditory canal and tympanic membrane, and sends it to the display and interaction module. Before transmission, this integrated information is transferred in batches via a direct memory access (DMA) channel to reduce the workload of the central processing unit.

[0035] The ranging and positioning module is equipped with a serial communication interface and a floating-point arithmetic unit. This serial communication interface supports a fast mode configuration with a clock frequency up to 400kHz. The ranging and positioning module receives distance data returned in real time from an external distance sensor. The distance data is stored in a register in 16-bit or 32-bit two's complement binary format. The structural compensation values ​​are pre-programmed into the internal non-volatile memory (such as electrically erasable read-only memory EEPROM or flash memory). This non-volatile memory is divided into a parameter area and a backup area, with the structural compensation values ​​redundantly stored in both areas and equipped with a cyclic redundancy check (CRC) code to prevent tampering. The propulsion control module generates and maintains a cumulative control pulse value. The cumulative control pulse value is stored in the count value register of a 32-bit hardware timer / counter and is updated synchronously with the motor control clock. The ranging and positioning module extracts the cumulative control pulse value and calculates the dynamic extension length of the electrode assembly. The ranging and positioning module combines the structural compensation value, distance data, and dynamic extension length to perform a one-dimensional transformation calculation of spatial coordinates, generating the remaining distance from the conductive contact end of the electrode to the target surface of the tympanic membrane. The one-dimensional transformation solution process is performed in the floating-point unit using single-precision calculations according to the IEEE 754 standard.

[0036] The propulsion control module integrates a proportional-integral-derivative (PID) controller and a pulse-width modulation (PWM) waveform generator. The PID controller is implemented using discretized difference equations within a fixed timer interrupt service function. The propulsion control module receives the remaining distance and compares it with the target safe distance. Based on the difference result, the module calculates the required number of output pulses and the duty cycle parameter. The duty cycle parameter determines the average voltage output to the motor drive arm, and the number of pulses corresponds to the target setpoint of the position control loop. The propulsion control module outputs control pulses of the corresponding frequency to the external electromechanical actuator. The frequency is configured in the 20kHz ultrasonic band, above the human hearing threshold, to avoid high-frequency electromagnetic noise during propulsion.

[0037] The safety limit module has the highest priority interrupt request (NMI or highest-level external interrupt EXTI) privileges. The response latency for this privilege is strictly controlled within microseconds and is not blocked by other ordinary data processing processes. The safety limit module is independently configured with three parallel monitoring threads, used to monitor remaining distance, distance fluctuation changes, and operating current, respectively. The monitoring process relies on an independent watchdog timer to provide a time base reference. The safety limit module determines whether the above monitored values ​​exceed a preset value range. This preset range parameter is locked in a read-only memory sector. When any monitored value exceeds the range, the safety limit module triggers an interrupt request, blocks the pulse output channel of the propulsion control module, and generates a stop propulsion command and limit indication data. The blocking of the pulse output channel is directly accomplished by setting the dead-time control register at the underlying hardware level, cutting off all PWM enable signals.

[0038] The display interaction module is equipped with a graphics rendering engine and an input event listening interface. The graphics rendering engine uses OpenGL ES or a similar embedded graphics library framework, responsible for pixel-level rasterization and texture mapping. The display interaction module receives image information, remaining distance, propulsion status data, and limit prompt data, and performs high-frame-rate pixel-level rendering on the external display screen. The external display screen interface includes, but is not limited to, HDMI, LVDS, or DisplayPort standards. The display interaction module scans for level changes in external input devices, capturing propulsion commands, retraction commands, distance measurement commands, and lighting commands generated by user presses. Level changes in input devices are debounced, with the debounce window time set to 10 to 20 milliseconds. The display interaction module routes and distributes the captured commands to the corresponding modules for execution; the distribution process is achieved asynchronously through a system message queue.

[0039] See attached document Figure 2-4This invention provides an electrode propulsion device for cochlear electrography examination, comprising a handheld body 1, which has a cylindrical shell structure. The shell of the handheld body 1 is injection molded from medical-grade polyetheretherketone (PEEK) or polycarbonate (PC), which has biocompatibility and high-temperature and high-pressure sterilization resistance, and the surface is processed with an anti-slip mesh texture. The front end of the handheld body 1 is connected to a front guide part 2 via a threaded structure. This threaded structure adopts a multi-start thread design and a medical-grade silicone O-ring is embedded in the mating surface to achieve IPX7 level water immersion sealing requirements. The shell of the front guide part 2 has a tapered transition structure that narrows at the front end. The electrode assembly 3 is coaxially inserted into the inner cavity along the central axis of the handheld body 1 and the front guide part 2. The surface of the inner cavity is treated with a polytetrafluoroethylene (PTFE) coating, and the coefficient of friction is maintained between 0.05 and 0.1. The electrode assembly 3 can generate linear sliding displacement in the axial direction within the inner cavity. The front end of the electrode assembly 3 is exposed outside the front guide part 2. The electrode assembly 3 has an electrode conductive contact terminal 4 at its foremost end. An operation button 13 is fixedly mounted on the outer surface of the handheld main body 1. The operation button 13 uses a thin-film microswitch structure and is covered with an overall waterproof silicone film. A communication connector 14 is fixedly installed at the tail end of the handheld main body 1. The communication connector 14 is a multi-pin aviation connector with a locking nut structure. The communication connector 14 establishes a wired connection with the main control host computer 15 via an external flexible cable 16. The flexible cable 16 contains multiple twisted-pair wires with independent braided shielding layers and is wrapped with a thermoplastic elastomer (TPE) sheath. The aforementioned visual ranging and positioning system is installed and runs in the storage medium of the main control host computer 15.

[0040] Multiple mounting countersunk holes are formed on the distal end face of the front guide section 2. The countersunk holes are filled with optically transparent and insulating epoxy resin. A miniature camera 5, a light-emitting diode (LED) lamp 6, and a miniature ranging sensor 7 are disposed in the front end area of ​​the front guide section 2. The miniature camera 5, LED lamp 6, and miniature ranging sensor 7 are arranged in a circular array around the circumference of the electrode assembly 3. The miniature camera 5 uses an integrated CMOS image sensor with a pixel size of 1.4 micrometers and is equipped with a wide-angle fixed-focus lens with a focal length of 2.0 mm. The optical observation center axis of the miniature camera 5, the central emission optical axis of the LED lamp 6, and the ranging laser optical axis of the miniature ranging sensor 7 are all arranged towards the distal end of the front guide section 2. The LED lamp 6 uses a surface-mount package, with a color temperature set to the 4000K to 5000K cool white light band and a color rendering index (CRI) greater than 90. The illumination direction of the LED light 6 matches and coincides with the observation field of view of the miniature camera 5, with a horizontal field of view (FOV) spanning approximately 90 degrees and a vertical spanning approximately 60 degrees. The miniature ranging sensor 7 employs an optical time-of-flight (ToF) ranging module based on a vertical-cavity surface-emitting laser (VCSEL), emitting near-infrared invisible light at a wavelength of 940 nanometers. The ranging direction of the miniature ranging sensor 7 is parallel to the axial propulsion direction of the electrode assembly 3, with an angle of 0 degrees between them.

[0041] A micro motor 8 is fixedly installed inside the cavity of the handheld main body 1. The micro motor 8 is a two-phase four-wire permanent magnet stepper motor or a brushless DC servo motor with a hollow cup rotor, and integrates a Hall position sensor or a high-resolution incremental photoelectric encoder. The output shaft of the micro motor 8 is arranged towards the front guide section 2. The output shaft of the micro motor 8 is fixedly connected to the tail end of a lead screw 10 via a coupling 9. The coupling 9 is a plum blossom-shaped flexible coupling or a bellows coupling, used to absorb radial runout and angular misalignment in the rotary transmission system. The surface of the lead screw 10 is machined with external threads.

[0042] The external thread is either a trapezoidal thread or a helical raceway of a precision ball screw, with a lead typically set to 0.25 mm to 1.0 mm. A slider 11 is fitted onto the outer side of the screw 10. The inner hole of the slider 11 is machined with an internal thread that mates with the external thread. A double-nut backlash elimination structure can be optionally fitted inside the slider 11 to eliminate backlash error during reverse transmission. The outer surface of the slider 11 is constrained by the linear guide groove on the inner wall of the handheld body 1, limiting the slider 11's movement to linear translation. The surface hardness of the linear guide groove is greater than HRC50. A connecting rod 12 is fixedly connected to the front end of the slider 11. The front end of the connecting rod 12 is fixedly connected to the tail end of the electrode assembly 3 via a clamping structure. When the micro motor 8 receives a control pulse and generates forward rotation, the output shaft of the micro motor 8 drives the coupling 9 and the screw 10 to rotate synchronously in the forward direction. The screw 10 drives the slider 11 to move along the guide groove towards the front guide portion 2 via a threaded transmission mechanism. The slider 11 pushes the connecting rod 12, which in turn pushes the electrode assembly 3 outward along the front guide portion 2. When the micro motor 8 receives a control pulse and generates a reverse rotational motion, the coupling 9 drives the lead screw 10 to rotate in the opposite direction. The lead screw 10 drives the slider 11 to move towards the tail end of the handheld body 1. The slider 11 pulls the connecting rod 12 and the electrode assembly 3 inward to retract.

[0043] The handheld unit 1 houses a communication control board and a current detection unit within its internal cavity. The communication control board is a four- or six-layer High-Density Interconnect (HDI) printed circuit board. The current detection unit is connected in series in the power supply circuit of the micro motor 8, using a sampling resistor to obtain the voltage drop and outputting a digital current value via an analog-to-digital converter. The sampling resistor is an alloy non-inductive resistor with an extremely low temperature coefficient (less than 50 ppm / ℃) and a resistance value between 10 milliohms and 50 milliohms. The obtained voltage drop is amplified by a fixed-rate hardware amplifier and then fed into a 12-bit or 16-bit successive approximation (SAR) analog-to-digital converter inside the microcontroller via a RC low-pass filter. The signal pins of the micro motor 8, micro camera 5, micro ranging sensor 7, and current detection unit are all electrically connected to the corresponding terminals on the communication control board. The communication control board aggregates various signals and outputs them through communication connector 14, establishing a bidirectional digital communication link with the visual ranging and positioning system within the host computer 15. The link uses Low Voltage Differential Signaling (LVDS) or USB 3.0 protocol to ensure bandwidth.

[0044] Both electrode assembly 3 and electrode conductive contact terminal 4 are manufactured using indium alloy material. The outer surface of the top end of electrode conductive contact terminal 4 is machined into a hemispherical structure with a rounded, obtuse angle transition. The surface roughness Ra of the hemispherical structure is less than 0.1 micrometers, and the machining process includes CNC turning and subsequent electrochemical polishing. The composition ratio of the indium alloy material constituting this component is as follows: 92% indium by mass, 5% silver by mass, and 3% copper by mass. This material system is melted in a vacuum induction melting furnace under inert gas protection, and the melt undergoes directional solidification to form a fine equiaxed crystal structure. The indium alloy material with this composition ratio has high conductivity, and the measured contact impedance value is stable in the range of 0.15 ohms to 0.35 ohms, which improves the charge transfer efficiency at the electrode-biological tissue interface and reduces the noise floor amplitude during signal acquisition.

[0045] See attached document Figure 5 The present invention provides an electrode-based visual ranging, positioning, and propulsion control method, which may include: Step S100 completes the establishment and parsing of the visual video stream and the presentation of image information of the external auditory canal wall and tympanic membrane region. This is executed through the visual acquisition module and includes the following sub-steps: Sub-step S101: Receive the high-frequency digital bitstream uploaded by the underlying hardware and complete the construction and splicing of the external environment video stream. Send a start command to the miniature camera 5 through the communication interface. The start command includes register configurations for exposure time, analog gain, and white balance parameters. Receive the raw image bitstream data continuously acquired and returned by the miniature camera 5. Decompress the raw image bitstream data frame by frame in the buffer register. Use a ping-pong buffer mechanism for alternating data access. Apply median filtering and non-local mean denoising algorithms to smooth and denoise the decompressed two-dimensional pixel matrix to obtain clear color video frames. The median filtering algorithm selects a sliding window, and the pixel value at the center of the window is replaced with the median of the sorted grayscale values ​​of all pixels within the window. The non-local mean denoising algorithm calculates the similarity between the pixel block containing the current pixel and all other pixel blocks in the image, generates a weighted weight, and performs a weighted average on the entire image based on this weight. The pixel resolution of the color video frame is set to 1920 pixels by 1080 pixels, and the refresh rate is set to 60 frames per second.

[0046] Sub-step S102 involves segmenting the external auditory canal wall image information and the tympanic membrane region image information and performing multi-region spatial coordinate annotation. An adaptive threshold segmentation algorithm is used to perform connected component search on the color video frame. The system statistically analyzes the pixel histogram distribution and calculates the local dynamic threshold using the Otsu method. The set of pixels located in the central region of the color video frame with a brightness average greater than the surrounding region is extracted and defined as the tympanic membrane region image information. The set of pixels outside the outline of the tympanic membrane region image information is defined as the external auditory canal wall image information. The front-end position image information formed by the occlusion of electrode component 3 in the current field of view is identified. The front-end position image information is represented in the image matrix as black or dark opaque pixel blocks with a specific aspect ratio and edge gradient. The external auditory canal wall image information, the tympanic membrane region image information, and the front-end position image information are encapsulated into external auditory canal and tympanic membrane image information and written into the video memory area for the display interaction module to refresh and present. The encapsulation structure includes the original pixel array and a coordinate bounding box layer superimposed on it.

[0047] Step S200: Calculate and derive the current remaining distance from the conductive contact end of the electrode to the target surface of the tympanic membrane based on the structural compensation amount. This is executed by the ranging and positioning module. It includes the following sub-steps: Sub-step S201: Obtain the calibration distance data and actual distance data between the ranging sensor and the standard reflective surface under calibration conditions. The parameter calibration process is implemented during the equipment assembly and shipment stage. The calibration operation is performed on a clean, dust-free workbench with constant temperature and humidity. The front guide 2 is vertically aligned with the fixedly placed standard reflective surface. The standard reflective surface is a Teflon (PTFE) standard plate with a diffuse reflectance calibrated to 90%. The absolute straight-line distance between the miniature ranging sensor 7 and the standard reflective surface is read and recorded as the calibration distance data. A fixed number of test pulses are sent to control the rotation of the miniature motor 8, and the displacement of the slider corresponding to this number of pulses is recorded as the calibration extension length. An external laser displacement meter is used to measure the true distance from the vertex of the conductive contact end 4 of the electrode to the standard reflective surface in this extended state, and this is recorded as the actual distance data. The laser displacement meter has a micrometer-level accuracy. The above three parameters are written into the read-only memory of the communication control board.

[0048] Sub-step S202 calculates the structural compensation between the electrode mechanical zero-point origin and the sensor optical reference plane. It reads the calibration distance data, calibration extension length, and actual distance data. It then performs a one-dimensional linear dimension difference calculation. The formula for calculating the structural compensation is as follows: ; in, The structural compensation amount represents the axial installation deviation distance between the optical reference surface of the miniature ranging sensor and the initial stationary reference surface of the electrode assembly, in mm. For calibration distance data, it represents the absolute linear distance measured by the range sensor against the range-measuring beam emitted from the standard reflector under factory calibration conditions, in mm; The extension length is for calibration. It represents the preset fixed displacement stroke of the drive motor driving the slider forward during factory calibration, and the unit is mm. This represents the true spatial distance data, measured using an external high-precision measuring tool, from the vertex of the electrode's conductive contact end to the aforementioned standard reflective surface, in mm. The calculated structural compensation amount is saved as a global system variable.

[0049] Sub-step S203 calculates the real-time remaining distance at the electrode tip based on the dynamic distance data acquired during continuous sampling. During the clinical operation cycle, a trigger signal is sent to the miniature ranging sensor 7. The ranging data sampling frequency is set to 100Hz to 200Hz. The system receives distance data from the distal end face of the front guide 2 to the anterior tympanic membrane surface returned by the miniature ranging sensor 7. The system introduces a temperature drift compensation coefficient into the distance data based on the temperature data fed back by the built-in thermistor. The count value in the control pulse accumulator is retrieved, and the count value is multiplied by a preset single-pulse displacement to obtain the dynamic extension length. The formula for calculating the remaining distance is as follows: ; in, The remaining distance represents the straight-line gap between the current coordinate position of the electrode conductive contact end and the target surface of the tympanic membrane in front. The value range is greater than or equal to 0, and the unit is mm. The distance data represents the real-time distance measured and transmitted back by the miniature ranging sensor within the current control sampling period, in mm. The dynamic extension length represents the linear distance that the electrode assembly has actually moved away from its initial zero position, calculated by multiplying the number of historically accumulated drive control pulses by the single pulse stroke. The unit is mm.

[0050] Step S300: Compare the remaining distance with the target safe distance and generate a servo square wave pulse to drive the micro motor propulsion. This is executed by the propulsion control module. It includes the following sub-steps: Sub-step S301 involves performing a threshold cross-comparison analysis between the calculated remaining distance and the target safety distance preset in the internal register. The target safety distance is read from the system configuration parameters. The target safety distance is set within the range of 0.5 mm to 2.0 mm. The calculated remaining distance is input into the logic comparator. The remaining distance is subtracted from the target safety distance, and the sign bit of the difference is extracted. This sign bit is located in the processor's status word register. The sign bit is used to determine whether the remaining distance is greater than the target safety distance. If the sign bit is positive (i.e., the remaining distance is greater than the target safety distance), the system's enable flag is kept at 1, preparing to generate the next set of control parameters. If the sign bit is negative or zero (i.e., the remaining distance is less than or equal to the target safety distance), the enable flag is set to 0, and the process enters a stop state.

[0051] Sub-step S302 dynamically generates the control pulse sequence for the current control cycle based on the spatial difference and the single-pulse propulsion amount. When the enable flag is set to 1, the spatial difference between the remaining distance and the target safe distance is calculated. An internal divider is invoked to divide the spatial difference by the fixed single-pulse propulsion amount. The division result is rounded down to obtain an integer value. The formula for calculating the number of control pulses is as follows: ; in, To control the number of pulses, it represents the number of effective square waves output by the microprocessor port to the external micro motor driver to generate torque; The target safety distance represents the safe clearance value between the conductive contact end of the electrode and the human tympanic membrane tissue set by the system, in mm; The single-pulse propulsion quantity represents the equivalent linear translation distance of the electrode caused by the micro motor receiving a single control pulse signal through the coupling and lead screw, measured in mm. The system timer outputs the calculated number of square wave pulse signals with a 50% duty cycle to the outside at a preset frequency. During the micro motor startup phase, an S-shaped acceleration / deceleration algorithm is executed, with the pulse frequency gradually and smoothly increasing from a low frequency to the rated operating frequency.

[0052] In sub-step S303, when the remaining distance approaches or equals the target safe distance, the pulse output is cut off and the lead screw and slider mechanism is locked. If the enable state flag is 0, the system immediately clears the pulse queue buffer in the PWM generator. No level signals are output to the micro motor 8 port. The H-bridge circuit in the driver chip is configured to either all lower transistors be on or all be off. The micro motor 8 stops rotating due to power failure. The thread self-locking effect between the lead screw 10 and slider 11 (its helix angle is less than the equivalent friction angle) keeps the electrode assembly 3 in a fixed position, preventing displacement and rebound due to external forces. A data packet corresponding to the stopped propulsion state is generated and distributed to the display interaction module.

[0053] Step S400: A triple-limiting mechanism is constructed based on the distance jump rate and current-estimated resistance to ensure the safety of human soft tissue. This is executed through the safety limit module. It includes the following sub-steps: Sub-step S401: Continuously extract distance data from adjacent time intervals to monitor patient positional changes occurring in the external auditory canal operating environment. Establish a circular buffer for distance data. The memory depth of the buffer is set to store at least 128 sampling points. Read the distance data from the latest time interval pushed into the buffer. Read the distance data from the previous time interval at the adjacent storage address. Calculate the absolute value of the difference between the two. The formula for calculating the distance fluctuation change is as follows: ; in, This represents the distance fluctuation, which is the absolute value of the discrete difference between two consecutive distance measurements within a very short adjacent sampling period, and is expressed in mm. This represents the distance data at the current moment, which is the current distance value collected at the rising edge of the latest sampling clock pulse, in mm. This is the distance data from the previous moment, representing the historical distance measurement value acquired at the rising edge of the immediately preceding sampling clock pulse, in mm. The system's preset distance fluctuation threshold is retrieved. The distance fluctuation threshold is limited to the range of 1.0 mm to 2.5 mm. The distance fluctuation change is compared with the distance fluctuation threshold. When the distance fluctuation change exceeds the threshold, a highest-priority hardware interrupt signal is sent to the system bus, unconditionally generating a stop-advance command.

[0054] Sub-step S402: Obtain the on-load operating current and off-load reference current during the micro motor's operating cycle to calculate the converted propulsion resistance. During each clock cycle of the micro motor 8's continuous pulse reception, read the on-load operating current value generated by the underlying current detection unit via analog-to-digital conversion. Extract the off-load reference current value obtained during factory testing, corresponding to the static friction force overcome by the electrode assembly 3 when sliding unloaded in the guide cavity. The off-load reference current value includes the fixed losses caused by mechanical friction of the transmission system and iron losses of the motor. Subtract the off-load reference current from the on-load operating current to obtain the effective working current increment. Multiply the effective working current increment by the current resistance conversion factor. The formula for calculating the estimated propulsion resistance is as follows: ; in, The estimated resistance value represents the equivalent value of the reverse mechanical resistance torque generated by human soft tissue or foreign objects at the conductive contact end of the electrode during the forward path, in N. The current resistance conversion factor represents a fixed proportional conversion constant between the change in the coil current of the micro motor and the linear thrust variable of the end connecting rod. Its value ranges from 0.01 to 0.08, and its unit is N / mA. The operating current represents the average load-bearing current parameter that the underlying current sampling circuit acquires and transmits back in real time during the current control cycle, and the unit is mA. The no-load reference current represents the baseline current parameter required for the electrode assembly to maintain uniform linear motion in a horizontal, unobstructed, suspended state, and is measured in mA.

[0055] Sub-step S403 compares the estimated propulsion drag value with the system-set drag limit parameter and executes an emergency fuse action when the limit is exceeded. The drag threshold parameter is read from memory. The drag threshold value is limited to the range of 0.8 Newtons to 1.5 Newtons. The estimated propulsion drag value is input into a numerical comparator and compared with the drag threshold. When the estimated propulsion drag value is greater than the drag threshold, a hard obstruction is detected in front of the electrode. The safety limit module immediately triggers a fuse command to shut down the motor driver power. The underlying relay or MOSFET will perform a physical-level power cut-off. A red limit warning data frame is packaged and sent to the display interaction module, driving the external display screen to display the corresponding alarm graphical interface.

[0056] Specific application examples: See attached document Figure 6 In the figure, the horizontal axis represents the sampling clock cycle, and the vertical axis uses a dual Y-axis design. The left vertical axis represents the length indicator (in mm), and the right vertical axis represents the propulsion resistance (in N). Solid lines marked with hollow upward-pointing triangles represent the current remaining distance, dashed lines marked with solid squares represent the dynamic extension length, and dotted lines marked with hollow circles represent the estimated propulsion resistance. This embodiment demonstrates the steps for obtaining and calculating the various formula symbol parameters of the control system in a real-world operating scenario.

[0057] The system's underlying configuration constant parameters are as follows: the target safety distance written to memory. The value is 1.0. The single-pulse propulsion amount corresponding to the mechanical structure of the micro motor 8 (with set step angle parameters) and the lead screw 10. The value is 0.005. The structural compensation amount is calculated and stored during the factory manufacturing stage. The value is 1.5. Current resistance conversion factor. The value is 0.02. The system-defined resistance threshold value is 1.2. The no-load reference current corresponding to the motor's no-load state. The value is 40.

[0058] After the system starts, the user inputs the propulsion enable command by clicking on the external display and control device. During the T1 clock cycle (corresponding to the start of the horizontal axis), the miniature ranging sensor 7 transmits a signal and receives the echo, calculating the distance data. The value is 22.5. At this time, the pulse counter is initially zero, the electrode has not been displaced, and the dynamic extension length is... The value is 0. Substituting the above value into the remaining distance formula, we calculate: .

[0059] Calculate the current remaining distance The value is 21.0. (See attached image.) Figure 6 As shown, in this initial stage, the dynamic extension length curve starts from 0, the current remaining distance curve starts from 21.0, and the propulsion drag estimate only includes a small value of base undulation. The calculated remaining distance is then substituted into the control pulse number formula for further calculation: .

[0060] The number of control pulses was calculated. The value is 4000. The PWM generator port starts continuously outputting these 4000 control pulses.

[0061] As time progresses and after multiple microinstruction cycles, the system reaches the intermediate node clock cycle T2, which is a distance from the data... The value remains 22.5 because the system remains stationary. The pulse counter accumulation register records the accumulated control pulses sent, thus affecting the dynamic extension length. The value will change to 15.0. The change will... Substituting back into the formula, the system dynamically calculates the current remaining distance. The value was reduced to 6.0. In Figure 6 Intuitively, the dynamic extension length curve steadily rises, while the current remaining distance curve shows a corresponding linear downward trend in slope. The control module continues to verify the subsequent duty cycle and maintain propulsion.

[0062] The system runs to the T3 approximation clock cycle (in Figure 6 At approximately 135 cycles on the horizontal axis, electrode conductive contact 4 comes into contact with a localized area of ​​cerumen inside the external auditory canal. The electrode tip experiences a localized physical reaction force, and the coupling torque generates a response peak. The operating current captured by the current detection unit... The value suddenly increased to 120. The system substitutes this sampled current into the propulsion drag estimation formula for calculation: .

[0063] The estimated propulsion drag value was calculated. The value is 1.6. In Figure 6At this moment, the propulsion drag estimate curve produces an extremely sharp upward peak. The comparator determines the propulsion drag estimate. The value of 1.6 is greater than the set resistance threshold value of 1.2. The safety limit module immediately outputs an interrupt stop level within two machine cycles after detecting the over-limit level, stopping the motor rotation. (See attached...) Figure 6 As can be clearly seen, after passing the peak, the dynamic extension length curve and the current remaining distance curve instantly turn into a smooth horizontal straight line, indicating that the propulsion mechanism has been completely locked. At the same time, the estimated propulsion resistance value quickly drops back to a stable release state of around 0.15N, completely avoiding the problem of soft tissue damage caused by excessive thrust applied to the electrode conductive contact end 4.

[0064] Experimental verification and effect comparison section: See attached document Figure 7 In the figure, the horizontal axis represents the test sample numbers from 1 to 50, and the vertical axis represents the baseline noise amplitude of the acquired signal, in microvolts (μV). To comprehensively demonstrate the application effect of the device of this invention, 100 test samples were selected for comparative testing. The sample test environment was placed inside a standard shielded room, the sampling rate of the acquisition system was set to 20kHz, the gain of the front-end preamplifier was set to 1000 times, and the bandpass filter frequency band was limited to 10Hz to 3000Hz. The test samples were evenly divided into two groups, each containing 50 samples. All test data were recorded on the back-end storage hard disk, and the statistical distribution was output by independent calculation software.

[0065] The first group of 50 samples used conventional straight-cylinder stainless steel electrodes, and electrocochlear imaging (ECG) signals were acquired entirely by manual advancement by the physician. The depth of this first group of samples relied entirely on tactile resistance feedback, resulting in inherent inconsistencies in the fine-tuning control. Data analysis after testing showed that the stopping distance between the electrode tip and the tympanic membrane surface in the first group ranged widely from 3.5 mm to 8.0 mm. Fifteen cases involved adverse physical contact due to excessive force. During impedance curve acquisition, the equivalent impedance of the stainless steel contact interface fluctuated between 0.6 ohms and 1.2 ohms. After averaging 1000 auditory stimuli, the average baseline noise of the cochlear electrocochlear imaging waveforms recorded in the first group reached as high as 2.4 microvolts. (See attached image) Figure 7 As shown by the dotted line marked with a hollow upward triangle, the data curves in the graph exhibit extremely high dispersion, generally and irregularly scattered across a wide range of 1.5 microvolts to 3.5 microvolts, with obvious abrupt peaks.

[0066] The second group of 50 samples was collected using the visual ranging and positioning system for cochlear electrographography and the matching electrode advancement device provided in this invention. During the second group of tests, the system's distance closed-loop feedback algorithm functioned effectively. Distance data streams and position control commands were refreshed at millisecond levels. After the second group of tests were executed, external optical micron-level calipers verified that the conductive contact ends of the electrodes in all 50 samples accurately stopped and hovered at a distance of 1.0 mm from the tympanic membrane. No adverse physical contact occurred in any case in the second group. Due to the use of a specific ratio of indium alloy material components in the second group, the contact impedance feedback from the system impedance test network (or impedance detection circuit) was concentrated around 0.2 ohms, resulting in a decrease in interface contact impedance. After the same 1000 superposition processing, the average baseline noise of the signal recorded in the second group decreased to 0.8 microvolts. (See attached...) Figure 7 In the second group, corresponding to solid lines marked with solid circles, the curves in this group are relatively stable, with the entire broken line tightly pressed against a low baseline of 0.5 microvolts to 1.2 microvolts. This invention improves the stability of the device's execution process and enhances the resolution quality of electrocochlear imaging signals by precisely controlling the stopping distance at the algorithmic level and combining it with underlying materials science improvements.

Claims

1. A visual ranging and positioning system for cochlear electrographography, characterized in that, The system is communicatively connected to an electrode propulsion device having a front-end guide section (2), an electrode assembly (3) with conductive electrode contacts (4), a miniature camera (5), a miniature ranging sensor (7), a miniature motor (8), and a current detection unit; the system includes: The visual acquisition module is used to process and acquire image information of the external auditory canal and tympanic membrane; The ranging and positioning module is used to form the remaining distance from the electrode conductive contact end (4) to the tympanic membrane target surface based on the distance data obtained by the miniature ranging sensor (7), the preset structural compensation amount and the dynamic extension length calculated based on the cumulative value of the output control pulse; The propulsion control module is used to generate propulsion status data based on the remaining distance and the preset target safety distance, and output control pulses to the micro motor (8); The safety limit module is used to generate a stop propulsion command and limit prompt data based on the remaining distance, the distance fluctuation change formed by the distance data based on adjacent sampling periods, and the estimated propulsion resistance calculated based on the working current of the micro motor (8) collected by the current detection unit, and output the stop propulsion command to the propulsion control module. The display interaction module is used to display the image information of the external auditory canal and tympanic membrane, the remaining distance, the advancement status data, and the limit prompt data.

2. The visual ranging and positioning system for cochlear electrographography examination according to claim 1, characterized in that, The visual acquisition module performs visual acquisition specifically by including: The image information of the external auditory canal wall, the image information of the tympanic membrane region, and the image information of the front end position of the electrode conductive contact end (4) are segmented and extracted; The external auditory canal wall image information, the tympanic membrane region image information, and the anterior position image information are output as the external auditory canal and tympanic membrane image information to the display interaction module.

3. The visual ranging and positioning system for cochlear electrographography examination according to claim 1, characterized in that, The ranging and positioning module generates the remaining distance specifically by: Receive the distance data from the distal end face of the front guide (2) to the target surface of the tympanic membrane continuously acquired by the miniature ranging sensor (7); The cumulative value of the control pulses output by the propulsion control module is obtained, and the dynamic extension length is calculated by combining it with the preset single pulse propulsion amount. In the initial state, the dynamic extension length is zero. The difference is obtained by subtracting the dynamic extension length and the structural compensation amount from the distance data, and this difference is used as the remaining distance from the electrode conductive contact end (4) to the target surface of the tympanic membrane; The remaining distance is output to the propulsion control module and the safety limit module.

4. The visual ranging and positioning system for cochlear electrographography examination according to claim 3, characterized in that, The ranging and positioning module generates the structural compensation amount specifically including: Receive calibration distance data from the far end face of the front guide (2) to the calibration target surface during calibration; The calibration extension length of the electrode assembly (3) extending beyond the distal end face of the front guide (2) under the calibration state, and the actual distance data from the electrode conductive contact end (4) to the calibration target surface; The result is obtained by subtracting the sum of the calibration extension length and the actual distance data from the calibration distance data, and this result is used as the structural compensation amount and stored.

5. A visual ranging and positioning system for cochlear electrographography examination according to claim 1, characterized in that, The propulsion control module generates the control pulse specifically in the following ways: Receive the remaining distance and the target safe distance, and compare the remaining distance with the target safe distance; When the remaining distance is greater than the target safety distance, the difference between the remaining distance and the target safety distance is calculated, and the difference is divided by the preset single pulse propulsion amount to obtain the required number of control pulses, forming the control pulse of the current control cycle, and the control pulse is output to the micro motor (8); When the remaining distance is less than or equal to the target safety distance, propulsion status data corresponding to the stop propulsion state is generated, and the output of control pulses to the micro motor (8) is stopped.

6. The visual ranging and positioning system for cochlear electrographography examination according to claim 1, characterized in that, The display interaction module performs display interactions specifically including: The system displays the external auditory canal and tympanic membrane image information, the distance data, the remaining distance, the advancement status data, and the limit prompt data. Receive user input commands such as advance commands, retraction commands, distance measurement commands, and lighting commands; The propulsion command and the retraction command are output to the propulsion control module, the ranging command is output to the ranging and positioning module, and the lighting command is output to the visual acquisition module.

7. A visual ranging and positioning system for cochlear electrographography examination according to claim 1, characterized in that, The safety limit module generates the stop propulsion command specifically including: The remaining distance is compared with the target safe distance, and a stop-advance command is generated when the remaining distance is less than or equal to the target safe distance. The distance fluctuation change is formed by the absolute difference between two consecutive distance data acquired in adjacent sampling periods. The distance fluctuation change is compared with a preset distance fluctuation threshold. When the distance fluctuation change exceeds the distance fluctuation threshold, a stop propulsion command is generated. The micro motor (8) in the propulsion state is received by the current detection unit. The working current is subtracted from the preset no-load reference current to obtain the effective working current increment. The effective working current increment is multiplied by the preset current resistance conversion coefficient to obtain the propulsion resistance estimate. The propulsion resistance estimate is compared with the preset resistance threshold. When the propulsion resistance estimate exceeds the resistance threshold, a stop propulsion command is generated. The generated stop propulsion command is output to the propulsion control module, and the corresponding limit prompt data is output to the display interaction module.

8. An electrode advancement device for cochlear electrographography, characterized in that, The communication control board is used to perform the control function of the system according to any one of claims 1 to 7, including a handheld body (1), a front guide (2) connected to the front end of the handheld body (1), an electrode assembly (3) passing through the handheld body (1) and the front guide (2), and an electrode conductive contact end (4) provided at the front end of the electrode assembly (3). The front end of the front guide (2) is provided with a miniature camera (5), an LED light (6) and a miniature ranging sensor (7). The handheld main body (1) is equipped with a micro motor (8), a current detection unit and a communication control board. The output shaft of the micro motor (8) is connected to the lead screw (10) through a coupling (9). A slider (11) is provided on the lead screw (10). The slider (11) is connected to a connecting rod (12). The connecting rod (12) is connected to the electrode assembly (3). The miniature camera (5), the miniature ranging sensor (7), the miniature motor (8), and the current detection unit are all electrically connected to the communication control board.

9. An electrode advancement device for cochlear electrographography according to claim 8, characterized in that, The slider (11) is sleeved on the lead screw (10) and threadedly engaged with the lead screw (10); When the micro motor (8) rotates in the forward direction, the coupling (9) drives the lead screw (10) to rotate in the forward direction, the lead screw (10) drives the slider (11) to move towards the front guide (2), and the slider (11) pushes the electrode assembly (3) to extend forward along the front guide (2) through the connecting rod (12); When the micro motor (8) rotates in the reverse direction, the coupling (9) drives the lead screw (10) to rotate in the reverse direction. The lead screw (10) drives the slider (11) to move towards the rear end of the handheld body (1). The slider (11) pulls the electrode assembly (3) back through the connecting rod (12).

10. An electrode advancement device for cochlear electrographography according to claim 8, characterized in that, The miniature camera (5), the LED lighting lamp (6), and the miniature ranging sensor (7) are arranged in a ring array around the circumference of the electrode assembly (3); The observation direction of the miniature camera (5), the illumination direction of the LED light (6), and the ranging direction of the miniature ranging sensor (7) are all directed toward the far end of the front guide (2). The illumination direction of the LED lighting lamp (6) is matched with the observation direction of the miniature camera (5); The ranging direction of the miniature ranging sensor (7) is parallel to the axial advancing direction of the electrode assembly (3).

Images