Cochlear Implant Microelectrode Remote Motion Center Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current cochlear implant surgery techniques face challenges in precisely controlling the motion of microelectrodes due to involuntary hand tremors, which can cause trauma to the delicate structures of the inner ear, and existing robotic systems struggle to accurately reach target positions within the narrow cavity of the cochlea.
Innovation Solution
An implantation system with a six-degree-of-freedom motion mechanism and a control unit that adjusts offset compensations based on target position and pose, allowing for precise control of the remote motion center, enabling accurate and safe implantation of cochlear microelectrodes through both automatic and manual modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual electrode implantation is performed by surgeon, then operation flexibility is maintained, but hand tremors cause imprecision in reaching target position
Solution Approach 1:
The patent introduces a robotic system as an intermediary between the surgeon's control inputs and the actual electrode implantation. The robot receives control instructions from the surgeon through an operating handle and automatically calculates the required motion parameters for each degree of freedom, eliminating the direct manual manipulation that causes tremors while preserving surgical control through the interface.
Solution Approach 2:
The patent replaces the manual mechanical control system with an automated robotic system that uses computer-controlled mechanisms. The robot substitutes the surgeon's hand movements with precision mechanical actuators that can accurately position the electrode without tremors, while the operating handle maintains the surgeon's intuitive control interface.
2Measurement precision
If robotic system is used for electrode implantation, then hand tremor is eliminated, but coordinate system transformation causes inaccuracy in reaching target position
Solution Approach 1:
The patent performs preliminary establishment of both world coordinate system and body coordinate system before the implantation procedure. The system pre-calculates the transformation relationships between these coordinate systems and stores them, so that during actual operation, the robot can directly apply these pre-established transformations without real-time calculation errors, ensuring accurate reaching of target positions.
Solution Approach 2:
The patent implements a feedback mechanism where the robot continuously monitors its actual position and compares it with the target position in the world coordinate system. Based on this feedback, the system adjusts the motion parameters for each degree of freedom to compensate for any deviations, ensuring that the electrode reaches the intended target position accurately despite coordinate transformations.
3Adaptability or versatility
If six-degree-of-freedom motion mechanism is used, then motion flexibility is improved, but device complexity increases
Solution Approach 1:
The patent divides the complex six-degree-of-freedom motion mechanism into six independent modules, each responsible for one degree of freedom. Each module can be independently controlled and adjusted, which simplifies the overall control strategy. The segmentation allows the system to achieve complex six-DOF motion while maintaining manageable complexity through modular design and independent control of each actuator.
Data Source
AI summary
An implantation system for a cochlear implant microelectrode with remote motion center control includes: an electrode implantation device including at least one pair of forceps, and a distal end part of the forceps is used as a remote motion center; a six-degree-of-freedom motion mechanism; an input unit, configured to input a surgical trajectory; and a control unit, configured to calculate, a displacement of the forceps in a first body coordinate system, an offset compensation of each motion execution unit at the front end at a corresponding degree of freedom in the first body coordinate system, and an offset compensation of each motion execution unit at the rear end at a corresponding degree of freedom in a second body coordinate system, and drive, based on the corresponding offset compensation and a preset motion priority, the forceps and the corresponding motion execution unit to act.