Microelectrode propulsion device

Abstract

This application relates to a microelectrode propulsion device, including a mounting base for fixing a robot end effector. The mounting base has a support portion perpendicular to its surface. The microelectrode propulsion device also includes an electrode propulsion mechanism and an electrode conduit. The electrode conduit is vertically mounted on the support portion and is used to calibrate the propulsion position of the microelectrode. The electrode propulsion mechanism includes an adjustment base and a propulsion adjustment structure. The adjustment base is disposed on the support portion, and the propulsion adjustment structure is slidably mounted on the adjustment base. The propulsion adjustment structure is used to clamp the microelectrode and propel the end of the microelectrode to the end of the electrode conduit. The propulsion position of the microelectrode is calibrated through the electrode conduit, realizing modular installation of the microelectrode and replacing the workflow of manually calculating the electrode propulsion distance during surgery.

Description

Technical Field

[0001] This application relates to the field of electrode propulsion technology, and in particular to microelectrode propulsion devices. Background Technology

[0002] In the life sciences, microelectrode technology is primarily used to measure minute electrical signals within cells or tissues. For example, in neuroscience research, scientists can implant microelectrodes into the brain or neural tissue to record neuronal activity in real time, thereby studying the transmission mechanisms of neural signals. This technology not only helps in understanding how the brain works but also provides important evidence for the development of mechanisms and treatments for neurological diseases.

[0003] In neurosurgery, especially during deep brain stimulation (DBS) surgery, microelectrodes need to be precisely implanted into specific locations in the patient's brain. A pulse generator is then used to stimulate certain brain nuclei, correcting abnormal brain electrical circuits and thus alleviating neurological symptoms. Using a surgical robot to assist in microelectrode implantation not only ensures standardized procedures but also guarantees precise electrode positioning. During microelectrode implantation, after the surgical robot reaches the designated location, the microelectrode thruster is installed at the robot's end effector, and the implantation process begins.

[0004] However, in related technologies, the end effector of the surgical robot needs to move to the implantation path according to the preoperative plan. Especially when used in conjunction with a surgical robot, existing microelectrode propulsion devices lack effective installation and calibration mechanisms, making it difficult to guarantee the accuracy and repeatability of electrode propulsion. At the same time, the integration of the electrode clamping and propulsion mechanisms in existing devices is not high, making it impossible to achieve micron-level precise propulsion control. This severely limits its application in precision neurosurgery and requires on-site calculation of the electrode implantation distance, affecting implantation accuracy. The electrode propulsion operation is also quite complex. Utility Model Content

[0005] Therefore, it is necessary to provide a microelectrode propulsion device that is easy to install, in order to solve the technical problems of limited electrode implantation accuracy and relatively difficult electrode propulsion operation in the existing microelectrode propulsion devices.

[0006] This application provides a microelectrode propulsion device, including a mounting base for fixing a robot end effector. The mounting base has a support portion perpendicular to its surface. The microelectrode propulsion device further includes an electrode propulsion mechanism and an electrode conduit. The electrode conduit is vertically mounted on the support portion and used to calibrate the propulsion position of the microelectrode. The electrode propulsion mechanism includes an adjustment base and a propulsion adjustment structure. The adjustment base is disposed on the support portion, and the propulsion adjustment structure is slidably mounted on the adjustment base. The propulsion adjustment structure is used to clamp the microelectrode and propel the end of the microelectrode to the end of the electrode conduit.

[0007] The propulsion adjustment structure includes a slide and an electrode mounting component that are assembled together. The electrode mounting component is detachably mounted on the slide. The slide is slidably mounted on the adjustment base and is not detachable. The electrode mounting component is provided with an electrode mounting hole for mounting a microelectrode. The axis of the electrode mounting hole is aligned with the axis of the electrode conduit.

[0008] The electrode propulsion mechanism includes a first fastener, and the electrode mounting component is further provided with a first fastening hole for mounting the first fastener. The first fastener is threadedly connected to the first fastening hole, and the first fastener is used to fix the microelectrode to be mounted on the electrode mounting component.

[0009] The electrode mounting component is further provided with a guide post, and the slide is provided with a sleeve for inserting the guide post, and the guide post is detachably inserted into the sleeve.

[0010] The adjusting base is provided with a sliding groove, and a fine-tuning screw is provided in the sliding groove. The fine-tuning screw is limited and installed in the sliding groove. The slide block is slidably installed on the fine-tuning screw. The end of the fine-tuning screw is provided with a fine-tuning knob, which is used to rotate the fine-tuning screw to adjust the moving distance of the slide block.

[0011] The slide block is provided with a threaded hole that is adapted to the fine-tuning screw, and the threaded hole is threadedly connected to the fine-tuning screw.

[0012] Two sleeves are provided, and the two sleeves are symmetrically arranged on both sides of the threaded hole.

[0013] The adjusting base is provided with a screw mounting hole for installing a fine-tuning screw, and the screw mounting hole is connected to the slide groove.

[0014] The fine-tuning screw is provided with a limiting groove, which is used to limit the rotation of the fine-tuning screw on the adjusting base and prevent axial movement.

[0015] The electrode propulsion mechanism further includes a second fastener. The support portion is provided with a first electrode hole and a second fastening hole. The first electrode hole is used to install the electrode conduit, and the second fastening hole is used to install the second fastener. The second fastener is used to fix the electrode conduit in the first electrode hole.

[0016] The microelectrode propulsion device provided in this application includes a mounting base for fixing the robot's end effector. The mounting base has a support portion perpendicular to its surface. The microelectrode propulsion device also includes an electrode propulsion mechanism and an electrode conduit. The electrode conduit is detachably mounted on the support portion and used to calibrate the propulsion position of the microelectrode. The electrode propulsion mechanism includes an adjustment base and a propulsion adjustment structure. The adjustment base is disposed on the support portion, and the propulsion adjustment structure is slidably mounted on the adjustment base. The propulsion adjustment structure is used to clamp the microelectrode and propel the end of the microelectrode to the end of the electrode conduit. The microelectrode propulsion device provided in this application, by fixing the robot's end effector to the mounting base, ensures that the microelectrode propulsion device is stably installed during the surgical process, preventing tilting or other unreliable factors. Simultaneously, the propulsion adjustment structure and the electrode conduit are used to determine the electrode propulsion distance. Therefore, the electrode propulsion distance operation is completed before electrode implantation, ensuring intraoperative implantation accuracy, optimizing the intraoperative workflow, and solving the problem of complex intraoperative electrode propulsion operations. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the microelectrode propulsion device provided in this embodiment.

[0018] Figure 2 A front view of the microelectrode propulsion device is provided for this embodiment.

[0019] Figure 3 This is a three-dimensional schematic diagram of the support portion provided in this embodiment.

[0020] Figure 4 This is a three-dimensional schematic diagram of the support portion provided in this embodiment from another perspective.

[0021] Figure 5 This is a three-dimensional schematic diagram of the electrode mounting component provided in this embodiment.

[0022] Figure 6 This is a three-dimensional schematic diagram of the slide provided in this embodiment.

[0023] Figure 7 This is a three-dimensional schematic diagram of the fine-tuning screw provided in this embodiment. Detailed Implementation

[0024] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0025] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this 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, and therefore should not be construed as a limitation of this application.

[0026] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0030] like Figures 1 to 3 As shown, the microelectrode propulsion device 1 provided in this embodiment includes a mounting base 10, which is used to fix and connect to the robot's end effector 2, such as... Figure 1 As shown, the mounting base 10 is locked onto the docking part of the robot's end effector 2 via an operating knob 11. The operating knob 11 has a switchable locked position and an unlocked position. The locked position is used to fix the mounting base 10 and the robot's end effector 2, and the unlocked position is used to separate the mounting base 10 from the fixed connection of the robot's end effector 2. The locking / unlocking function of the operating knob 11 enables quick installation / removal of the microelectrode propulsion device 1, making operation more convenient. To ensure a reliable connection between the microelectrode propulsion device 1 on the mounting base 10 and the robot's end effector, or to change the end effector, rotating the operating knob 11 again can quickly separate the fixed connection between the microelectrode propulsion device 1 and the docking part 2, achieving modular installation of the microelectrode propulsion device 1 and supporting rapid switching between different surgical scenarios.

[0031] The mounting base 10 provided in this embodiment has a support portion 101, which is vertically disposed on the surface of the mounting base 10. The microelectrode pushing device 1 also includes an electrode pushing mechanism 12 and an electrode conduit 13. The electrode conduit 13 is vertically mounted on the support portion 101 and is used to calibrate the pushing position of the microelectrode 3. The electrode pushing mechanism 12 includes an adjusting base 121 and a pushing adjusting structure 122. The adjusting base 121 is disposed on the support portion 101, and the pushing adjusting structure 122 is slidably mounted on the adjusting base 121. The pushing adjusting structure 122 is used to clamp the microelectrode 3 and position the microelectrode. The end of the microelectrode 3 is advanced to the end of the electrode catheter 13. In this embodiment, before electrode implantation, the advancement distance of the microelectrode 3 is calibrated using the end of the electrode catheter 13. The end of the microelectrode 3 is advanced to the end of the electrode catheter 13 by the sliding distance of the advancement adjustment structure 122 on the adjustment base 121. The position of the advancement adjustment structure 122 on the adjustment base 121 is fixed. After completing the electrode advancement step, the electrode catheter 13 is removed from the support 101, and the microelectrode 3 is removed from the advancement adjustment structure 122. The microelectrode 3 is then conveniently placed for operation during electrode implantation. The robot execution end 2 moves to the target position according to the preoperative plan and reinstalls the microelectrode 3 on the advancement adjustment structure 122. At this time, the installation position of the microelectrode 3 is the calibration position of the electrode catheter 13. The robot execution end 2 directly inserts the microelectrode 3 to the lesion without manually calculating the advancement distance during electrode implantation. The electrode implantation process is completed automatically according to the path navigation, optimizing the intraoperative workflow and ensuring safe surgical operation.

[0032] The support 101 provided in this embodiment provides operating space. The electrode conduit 13 is vertically installed on the support 101 to avoid interference between the installation guide of the electrode conduit 13 and the robot end effector 2. Moreover, the support 101 can ensure that the installation path of the microelectrode 3 is relatively parallel to the robot end effector 2, control the movement trajectory of the robot end effector 2, determine the implantation angle of the microelectrode 3, and make the operation more flexible.

[0033] like Figure 1 and Figure 2As shown, this embodiment provides a propulsion adjustment structure 122 including a slide 1221 and an electrode mounting component 1222 that are assembled together. The electrode mounting component 1222 is detachably mounted on the slide 1221. The slide 1222 is slidably mounted on the adjustment base 121 and is not detachable. The electrode mounting component 1222 is provided with an electrode mounting hole 1251 for mounting the microelectrode 3. The axis of the electrode mounting hole 1251 is aligned with the axis of the electrode conduit 13. The microelectrode 3 is mounted on the slide 1221 via the electrode mounting component 1222. During electrode calibration, the slide 1221 is manually adjusted relative to the adjusting base 121 until the end of the microelectrode 3 is level with the end of the electrode conduit 13. This fixes the advance distance of the microelectrode 3 using the positioning calibration function of the electrode conduit 13. In this embodiment, the slide 1221 can be smoothly moved relative to the adjusting base 121 using a threaded connection to move the microelectrode 3 to the calibration position at the end of the electrode conduit 13. Alternatively, the slide 1221 can be positioned using a socket to move the microelectrode 3 to the calibration position. This embodiment calibrates the advance distance of the microelectrode 3 via the electrode conduit 13, completing electrode position calibration preoperatively, shortening the intraoperative process, and ensuring the reliability of electrode implantation. Furthermore, the slide 1221 provided in this embodiment does not require pre-setting the advance dimension; the electrode advance distance is positioned based on the end of the electrode conduit 13, making it more intuitive and easier for the user to observe.

[0034] In this embodiment, the electrode mounting component 1222 and the slide 1221 are assembled together. The slide 1221 is mounted on the adjustment base 121 and is not removable. The electrode mounting component 1222 can be detached from the slide 1221. That is, in the electrode calibration stage, the slide 1221 and the electrode mounting component 1222 are manually operated to push the end of the microelectrode 3 to the end of the electrode conduit 13 until it is level. After the electrode calibration stage is completed, the electrode mounting component 1222, the microelectrode 3, and the electrode conduit 13 are detached together. The slide 1221 remains in a fixed position and is used to position the electrode in the subsequent electrode implantation stage. The robot's end effector 2 is controlled to move to the navigation path and reinstall the electrode mounting component 1222 and the microelectrode 3 on the slide 1221. The end position of the microelectrode 3 is the end position of the electrode conduit 13 in the electrode calibration stage. This position is determined according to the image navigation plan to locate the lesion. This lesion location is existing technology and will not be described in detail. Furthermore, regarding the brain electrode implantation technology, the calibration position of the end of the electrode catheter 13 mentioned in this application is based on stereotactic electroencephalography (SEEG), a technique that uses microelectrodes implanted in the brain of epilepsy patients to record brain discharges and locate the epileptic region. This technique can determine the incident and target points of the electrode implantation, and determine the implantation depth of the microelectrode 3 based on the incident and target points. That is, by selecting an electrode catheter 13 of appropriate length, the implantation depth of the microelectrode 3 is converted into the length of the electrode catheter 13, and the end of the microelectrode 3 is calibrated and positioned based on the end of the electrode catheter 13, thereby completing the calculation of the electrode implantation depth.

[0035] In this embodiment, the slide 1221 and the adjusting base 121 are connected by a dovetail groove structure to ensure that the slide 1221 can only slide along a predetermined direction on the adjusting base 121 without deviation or shaking.

[0036] The combined installation structure provided in this embodiment gives the microelectrode propulsion device 1 greater flexibility and adaptability. When it is necessary to replace microelectrodes 3 of different specifications, only the electrode mounting part 1222 needs to be replaced, instead of replacing the entire propulsion adjustment structure 122, which greatly improves the efficiency and economy of the device. At the same time, the non-removable design between the slide 1221 and the adjustment base 121 ensures the stability and reliability of the device during use.

[0037] The electrode mounting component 1222 provided in this embodiment has an electrode mounting hole 1251 for mounting the microelectrode 3. The axis of the electrode mounting hole 1251 is aligned with the axis of the electrode conduit 13. The diameter of the electrode mounting hole 1251 matches the outer diameter of the microelectrode 3, ensuring that the microelectrode 3 can be stably mounted on the electrode mounting component 1222. The axis of the electrode mounting hole 1251 is strictly aligned with the axis of the electrode conduit 13, ensuring that the microelectrode 3 moves along a predetermined path during advancement without deviation or bending.

[0038] like Figure 1 and Figure 5 As shown, the electrode propulsion mechanism (12) provided in this embodiment includes a first fastener (123), and the electrode mounting component (1222) is further provided with a first fastening hole (1252) for mounting the first fastener (123). The first fastener (123) is threadedly connected to the first fastening hole (1252), and the first fastener (123) is used to fix the microelectrode (3) on the electrode mounting component (1222). The first fastening hole 1252 provided in this embodiment is provided on the side of the electrode mounting component 1222 and intersects perpendicularly with the electrode mounting hole 1251. When the microelectrode 3 is inserted into the electrode mounting hole 1251, the microelectrode 3 can be firmly fixed on the electrode mounting component 1222 by tightening the first fastener 123.

[0039] Preferably, such as Figure 1 and Figure 5 As shown, the head of the first fastener 123 is designed with a hand-tightening structure, allowing operation without tools and improving the ease of use of the device. Simultaneously, the threaded portion of the first fastener 123 is manufactured using precision machining to ensure accurate fit with the first fastening hole 1252, preventing damage to the microelectrode 3 during tightening. Furthermore, the fastening structure design makes the installation and removal of the microelectrode 3 simple and quick, while ensuring the stability and reliability of the microelectrode 3 during use. When it is necessary to adjust the position of the microelectrode 3 or replace it, simply loosening the first fastener 123 easily completes the operation, greatly improving the operating efficiency and flexibility of the device.

[0040] In one embodiment, such as Figure 5 and Figure 6As shown, the electrode mounting component 1222 also includes a guide post 1253, and the slide 1221 has a sleeve 1241 for inserting the guide post 1253. The guide post 1253 is detachably inserted into the sleeve 1241. To ensure the fitting accuracy between the guide post 1253 and the sleeve 1241, the surface of the guide post 1253 can be polished. The guide post 1253 can be located at the bottom of the electrode mounting component 1222, parallel to the electrode mounting hole 1251. The inner diameter of the sleeve 1241 is slightly larger than the outer diameter of the guide post 1253, forming a clearance fit to ensure that the guide post 1253 can be smoothly inserted and removed. The sleeve 1241 is located at the top of the slide 1221 or at its top surface extension, integrally formed with the slide 1221, enhancing the stability and reliability of the structure. The guide post-sleeve structure design further enhances the stability and reliability of the connection between the electrode mounting component 1222 and the slide 1221. When the electrode mounting component 1222 is installed onto the slide 1221, the guide post 1253 is inserted into the sleeve 1241, forming precise positioning and guidance, ensuring that the axis of the electrode mounting hole 1251 is strictly aligned with the axis of the electrode conduit 13. At the same time, this structural design also makes the installation and removal of the electrode mounting component 1222 simpler and faster, improving the efficiency and flexibility of the device.

[0041] In one embodiment, such as Figure 1 and Figure 2 As shown, the adjusting base 121 has a sliding groove 1211, within which a fine-tuning screw 1212 is installed. The fine-tuning screw 1212 is positioned and limited within the sliding groove 1211. A slide block 1221 is slidably mounted on the fine-tuning screw 1212. A fine-tuning knob 1213 is located at the end of the fine-tuning screw 1212. The fine-tuning knob 1213 is used to rotate the fine-tuning screw 1212 to adjust the movement distance of the slide block 1221. The outer circumferential surface of the fine-tuning knob 1213 has anti-slip textures to improve operational comfort and precision. The integral molding of the fine-tuning knob 1213 and the fine-tuning screw 1212 ensures that the rotation of the fine-tuning knob 1213 drives the fine-tuning screw 1212 to rotate synchronously. This fine-tuning structure design makes the propulsion control of the microelectrode 3 more precise and reliable. By rotating the fine-tuning knob 1213, the rotation of the fine-tuning screw 1212 can be controlled, thereby driving the slide 1221 to move along a predetermined direction on the adjusting base 121, achieving precise advance control of the microelectrode 3. Because the pitch of the fine-tuning screw 1212 is small, each rotation only moves the slide 1221 a preset distance within micrometers, thus achieving micrometer-level precise control and meeting the requirements of precision operation.

[0042] In one embodiment, such as Figure 2 and Figure 6As shown, the slide 1221 has a threaded hole 1242 that matches the fine-tuning screw 1212, and the threaded hole 1242 is threadedly connected to the fine-tuning screw 1212. The threaded hole 1242 is located at the center of the bottom of the slide 1221, and its diameter matches the outer diameter of the fine-tuning screw 1212, and its pitch is also the same as the pitch of the fine-tuning screw 1212. The threaded hole 1242 is manufactured using precision machining technology to ensure the fitting accuracy between it and the fine-tuning screw 1212, reduce clearance and backlash, and improve the accuracy and stability of adjustment. The threaded connection structure design allows the rotation of the fine-tuning screw 1212 to be accurately converted into the linear motion of the slide 1221. When the fine adjustment knob 1213 is rotated, the fine adjustment screw 1212 rotates accordingly. Since the threaded hole 1242 on the slide block 1221 is threadedly connected to the fine adjustment screw 1212, and the fine adjustment screw 1212 is limited and installed in the slide groove 1211 and cannot move axially, the rotation of the fine adjustment screw 1212 will cause the slide block 1221 to move along the axial direction of the fine adjustment screw 1212.

[0043] In one embodiment, such as Figure 2 and Figure 6 As shown, two sleeves 1241 are provided, symmetrically arranged on both sides of the threaded hole 1242. This double-sleeve structure design further enhances the stability and reliability of the connection between the electrode mounting component 1222 and the slide block 1221. When the electrode mounting component 1222 is installed onto the slide block 1221, the two guide posts 1253 at the bottom of the electrode mounting component 1222 are respectively inserted into the two sleeves 1241 at the top of the slide block 1221, forming a more stable and reliable connection. Because the two sleeves 1241 are symmetrically arranged on both sides of the threaded hole 1242, it effectively prevents the electrode mounting component 1222 from tilting or rotating during use, ensuring that the axis of the electrode mounting hole 1251 is always aligned with the axis of the electrode conduit 13. Furthermore, installation is more convenient; simply align the two guide posts 1253 at the bottom of the electrode mounting component 1222 with the two sleeves 1241 at the top of the slide block 1221, and then insert vertically to complete the installation. No other fixing measures are required, improving the efficiency and flexibility of the device.

[0044] In one embodiment, such as Figure 2 and Figure 4 As shown, the adjusting base 121 is provided with screw mounting holes 1214 for mounting the fine-tuning screw 1212. The screw mounting holes 1214 communicate with the sliding groove 1211. The screw mounting holes 1214 are located at both ends of the adjusting base 121, and their diameter is slightly larger than the diameter of the journal of the fine-tuning screw 1212, forming a clearance fit to ensure that the fine-tuning screw 1212 can rotate freely within the screw mounting holes 1214. The screw mounting holes 1214 communicate with the sliding groove 1211, forming a channel penetrating the adjusting base 121 for mounting the fine-tuning screw 1212.

[0045] In one embodiment, such as Figure 7 As shown, the fine-tuning screw 1212 is provided with a limiting groove 1215. The limiting groove 1215 is used to limit the rotational installation of the fine-tuning screw 1212 on the adjusting base 121 and prevent axial movement. The limiting structure design of the limiting groove 1215 further enhances the stability and reliability of the installation of the fine-tuning screw 1212. Through the cooperation of the limiting groove 1215 and the limiting component, axial movement of the fine-tuning screw 1212 can be effectively prevented during use, ensuring that the fine-tuning screw 1212 always remains in the correct position, thereby guaranteeing the movement accuracy and stability of the slide 1221.

[0046] In one embodiment, such as Figure 1 and Figure 4 As shown, the electrode advancing mechanism 12 also includes a second fastener 125. The support portion 101 is provided with a first electrode hole 1010 and a second fastening hole 1011. The first electrode hole 1010 is used to install the electrode conduit 13, and the second fastening hole 1011 is used to install the second fastener 125. The second fastener 125 is used to fix the electrode conduit 13 in the first electrode hole 1010. In this embodiment, the first electrode hole 1010 is located on the top of the support portion 101, and its diameter matches the outer diameter of the electrode conduit 13, forming an interference fit to ensure that the electrode conduit 13 can be stably installed on the support portion 101. The axis of the first electrode hole 1010 is parallel to the advancing direction of the microelectrode 3, ensuring that the microelectrode 3 can be advanced along a predetermined path. The second fastening hole 1011 is located on the side of the support portion 101 and intersects the first electrode hole 1010 perpendicularly. The diameter of the second fastening hole 1011 matches the outer diameter of the second fastener 125, forming a threaded fit to ensure that the second fastener 125 can be firmly installed on the support portion 101. The second fastener 125 can be a screw, providing good mechanical strength. The head of the second fastener 125 is designed for hand-tightening, allowing operation without tools and improving the ease of use of the device. This fastening structure design makes the installation and fixation of the electrode conduit 13 simpler and more reliable. After the electrode conduit 13 is inserted into the first electrode hole 1010, tightening the second fastener 125 securely fixes the electrode conduit 13 to the support 101, preventing loosening or displacement during use. Simultaneously, this design also facilitates the replacement and adjustment of the electrode conduit 13; when it is necessary to replace it with a different specification of electrode conduit 13, simply loosening the second fastener 125 easily completes the operation.

[0047] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A microelectrode propulsion device, characterized in that, The device includes a mounting base (10) for fixing the robot end effector (2). The mounting base (10) is provided with a support (101) which is vertically disposed on the surface of the mounting base (10). The microelectrode propulsion device (1) also includes an electrode propulsion mechanism (12) and an electrode conduit (13). The electrode conduit (13) is vertically mounted on the support (101) and is used to calibrate the propulsion position of the microelectrode (3). The electrode propulsion mechanism (12) includes an adjustment base (121) and a propulsion adjustment structure (122). The adjustment base (121) is disposed on the support (101), and the propulsion adjustment structure (122) is slidably mounted on the adjustment base (121). The propulsion adjustment structure (122) is used to clamp the microelectrode (3) and propel the end of the microelectrode (3) to the end of the electrode conduit (13).

2. The microelectrode propulsion device as described in claim 1, characterized in that, The propulsion adjustment structure (122) includes a combined slide (1221) and an electrode mounting component (1222). The electrode mounting component (1222) is detachably mounted on the slide (1221). The slide (1221) is slidably mounted on the adjustment base (121) and is not detachable. The electrode mounting component (1222) is provided with an electrode mounting hole (1251) for mounting a microelectrode (3). The axis of the electrode mounting hole (1251) is aligned with the axis of the electrode conduit (13).

3. The microelectrode propulsion device as described in claim 2, characterized in that, The electrode propulsion mechanism (12) includes a first fastener (123), and the electrode mounting component (1222) is further provided with a first fastening hole (1252) for mounting the first fastener (123). The first fastener (123) is threadedly connected to the first fastening hole (1252), and the first fastener (123) is used to fix the microelectrode (3) mounted on the electrode mounting component (1222).

4. The microelectrode propulsion device as described in claim 3, characterized in that, The electrode mounting component (1222) is also provided with a guide post (1253), and the slide (1221) is provided with a sleeve (1241) for inserting the guide post (1253). The guide post (1253) is detachably inserted into the sleeve (1241).

5. The microelectrode propulsion device as described in claim 4, characterized in that, The adjusting base (121) is provided with a slide groove (1211), and a fine-tuning screw (1212) is provided in the slide groove (1211). The fine-tuning screw (1212) is limited and installed in the slide groove (1211). The slide block (1221) is slidably installed on the fine-tuning screw (1212). The end of the fine-tuning screw (1212) is provided with a fine-tuning knob (1213). The fine-tuning knob (1213) is used to rotate the fine-tuning screw (1212) to adjust the moving distance of the slide block (1221).

6. The microelectrode propulsion device as described in claim 5, characterized in that, The slide (1221) is provided with a threaded hole (1242) that is adapted to the fine-tuning screw (1212), and the threaded hole (1242) is threadedly connected to the fine-tuning screw (1212).

7. The microelectrode propulsion device as described in claim 6, characterized in that, Two sleeves (1241) are provided, and the two sleeves (1241) are symmetrically arranged on both sides of the threaded hole (1242).

8. The microelectrode propulsion device as described in claim 6, characterized in that, The adjusting base (121) is provided with a screw mounting hole (1214) for installing a fine-tuning screw (1212), and the screw mounting hole (1214) is connected to the slide groove (1211).

9. The microelectrode propulsion device as described in claim 8, characterized in that, The fine-tuning screw (1212) is provided with a limiting groove (1215), which is used to limit the fine-tuning screw (1212) to be rotatably mounted on the adjusting base (121) and to prevent axial movement.

10. The microelectrode propulsion device as described in claim 5, characterized in that, The electrode propulsion mechanism (12) further includes a second fastener (125). The support portion (101) is provided with a first electrode hole (1010) and a second fastening hole (1011). The first electrode hole (1010) is used to install the electrode conduit (13), and the second fastening hole (1011) is used to install the second fastener (125). The second fastener (125) is used to fix the electrode conduit (13) in the first electrode hole (1010).

Images