CN108379733A - Cochlear electrode based on 6-SPS type parallel institutions is implanted into robot - Google Patents

Abstract

The invention discloses a cochlear electrode implant robot based on a 6-SPS parallel mechanism, which includes a linear guide wire pre-set in a guide hole of a pre-bent electrode and straightening the pre-bend electrode. The outer end of the tail of the curved electrode is provided with a card joint; the push mechanism includes a guide wire positioning assembly connected with the card joint, an electrode push assembly connected with the tail end of the pre-bent electrode and repelling and moving with the guide wire positioning assembly; the push mechanism The pre-bent electrode is fixed on a six-degree-of-freedom parallel mechanism; the six-degree-of-freedom parallel mechanism includes the degrees of freedom of rotation of the X-axis, Y-axis, and Z-axis and the degree of freedom of movement of the X-axis, Y-axis, and Z-axis; the electrode push assembly The pushing direction is consistent with said X-axis or Y-axis. Through a six-degree-of-freedom parallel mechanism, the initial position adjustment of the electrode implantation, the insertion or retraction of the pre-bent electrode during implantation, and the automation of the rotation adjustment along the cochlear axis, and the more sensitive force perception of the robot mechanism, Realize the precise control of the position.

Description

Cochlear Electrode Implantation Robot Based on 6-SPS Parallel Mechanism

technical field

The invention relates to a medical pre-bent electrode implantation device, in particular to a pre-bent cochlear electrode automatic implantation robot adopting a 6-SPS type parallel mechanism.

Background technique

A cochlear implant is an electronic device that converts sound into a coded electrical signal by an external speech processor, and directly stimulates the auditory nerve through the electrode system implanted in the body to restore, improve and rebuild the auditory function of the deaf. Over the past two decades, with the development of high technology, cochlear implants have developed rapidly and have entered clinical application from experimental research. Cochlear implants are now used as a routine method for the treatment of severe deafness to total deafness all over the world. Cochlear implants are currently the most successful biomedical engineering devices.

The pre-bent electrode itself is made into a cochlear form similar to the cochlear curvature. In order to facilitate implantation, a guide hole is set in the middle of the electrode and a straight positioning guide wire is inserted to force the electrode to straighten and form a straight line before implantation. For example, the Chinese utility model patent with the notification number CN201260735Y discloses a cochlear implantation device, which includes a cochlear gel and a cochlear-shaped electrode array. The electrode array is composed of an electrode ring and an electrode wire. Packaged into one body, the feature is that there are several support sections on the silicon body facing away from the pole array, the support section is integrated with the silicon body, and the support section is provided with a slender through hole parallel to the pole array, and the through hole penetrates The supporting steel core straightens the pre-bent cochlea-shaped poles. When implanting the pre-bent electrode, when a part of the electrode is implanted and the cochlea starts to enter a spiral state, a part of the electrode guide wire is drawn out, and the part of the electrode drawn out of the guide wire naturally forms a curved form. As the implantation depth increases, the more the guide wire is withdrawn, the more the electrode bends. Until the end of the implantation, the pre-bent electrode naturally hugs the modiolus. Using a pre-bent electrode allows the electrode to better stimulate the remnant spiral ganglion cells in the modiolus.

During the implantation of the pre-bent electrode, the doctor needs to judge when the pre-bent electrode and the straight guide wire are in contact with the inner wall, and at the same time coordinate the operation of implanting the electrode and withdrawing an appropriate length of the straight guide wire. When implanting the pre-bent electrode of the cochlear implant in existing medical methods, the doctor clamps the pre-bent electrode with a surgical instrument with one hand to implant the electrode, and the other hand extracts the guide wire, and implants with the cooperation of both hands. As the implantation depth of the electrode becomes deeper and the length of the guide wire is longer and longer, the contact between the front end electrode and the cochlea becomes more and more, and the friction force during implantation becomes greater and greater. The greater the interference with the contact force with the inner wall, the more blurred the hand feeling will be. At the same time, the doctor needs to change the implantation angle to be more suitable for the cochlear labyrinth during the electrode implantation process. These are all judged by the hand feel and experience. However, the minimum value that can be sensed by human force is about 25mN, and there is a minimum threshold limit for perception, which leads to the characteristics that the electrode is easy to yield and the patient's residual hearing is easy to be damaged during the implantation process, which greatly increases the difficulty of the implantation operation. Therefore, prebent electrode implantation is a very challenging operation that requires a lot of professional training and rich clinical experience, and there are very few doctors who have mastered prebent electrode implantation.

Contents of the invention

An object of the present invention is to provide a cochlear electrode implant robot based on a 6-SPS parallel mechanism, which pulls out the preset linear guide wire simultaneously in a repulsive manner when pushing the pre-bent electrode through a repulsive moving structure , which solves the problem that both hands are required to cooperate when the pre-bent electrode is implanted, the positioning accuracy of the electrode is difficult, and the position adjustment is inconvenient. Moreover, the automation of pre-bent electrode implantation is realized through a six-degree-of-freedom parallel mechanism robot. At the same time, the precise control of the position of the robot mechanism and the characteristics of being more sensitive than human force perception are used to control the position of the pre-bend electrode during implantation. It is more accurate, thereby effectively solving at least the above-mentioned problems and/or defects of the pre-bent electrode implantation process, and providing at least the advantages that will be described later.

The technical solution adopted in the present invention is: a cochlear electrode implant robot based on a 6-SPS parallel mechanism, including a pre-bent electrode pre-bent in a cochlear shape; including a guide hole pre-set in the pre-bent electrode and A linear guide wire that makes the pre-bent electrode straight, the linear guide wire is provided with a clip joint at the tail outer end of the pre-bend electrode; a push mechanism, the push mechanism includes a guide wire connected to the clip joint A positioning assembly, an electrode pushing assembly connected to the tail end of the pre-bent electrode and moving repulsively with the guide wire positioning assembly; the pushing mechanism and the pre-bending electrode are fixed on a six-degree-of-freedom parallel mechanism, the The six-degree-of-freedom parallel mechanism includes rotational degrees of freedom of the X-axis, Y-axis, and Z-axis and moving degrees of freedom of the X-axis, Y-axis, and Z-axis; the pushing direction of the electrode pushing assembly is consistent with the X-axis or the Y-axis. The initial position of the pre-bent electrode implantation is adjusted at the entrance of the cochlea through a six-degree-of-freedom parallel mechanism, and the insertion or retraction of the pre-bend electrode during the implantation process is automated along the axis of the cochlear labyrinth. , and also use the more sensitive force perception of the robot mechanism to achieve precise control of the position. The present invention effectively solves the technical problem that human force sense is limited during the implantation of pre-bent electrodes, which causes the residual hearing of the patient to be easily damaged during the implantation process, effectively improves the accuracy and safety of implantation surgery, and reduces the risk of electrode implantation surgery. difficulty.

Preferably, the six-degree-of-freedom parallel mechanism includes a fixed platform, a moving platform, and six SPS branch chains connected between the fixed platform and the moving platform. Specifically, the six SPS branch chains include telescopic rods and ball pairs respectively arranged at both ends of the telescopic rods. Furthermore, the telescopic rod includes a linear motor or a hydraulic cylinder, or a ball screw installed on a guide rail and connected to a motor.

Preferably, the electrode pushing assembly includes a linear driver; the linear driver includes a linear motor or a hydraulic cylinder, or an electrically driven ball screw connected to a guide rail.

Preferably, the guide wire positioning assembly includes a positioning inner cylinder and at least two barb-shaped clamping reeds arranged in the positioning inner cylinder and uniformly distributed in the circumferential direction. The locking reed facilitates the locking of the card joint, and at the same time, its elastic action eliminates the positioning gap of the linear guide wire.

Preferably, an axial elastic element acting in the direction of the locking reed is provided in the positioning inner cylinder located at the inner end of the locking reed. The snap joint under the joint action of the piston and the elastic element can further eliminate the positioning gap of the linear guide wire. And when the pre-bent electrode is retracted during position adjustment, it will be cushioned by the elastic structure of the elastic element, the piston and the snap joint, and retract synchronously with the pre-bent electrode.

The technical solution of the present invention realizes that the initial position of the electrode implantation is adjusted at the entrance of the cochlea through a six-degree-of-freedom parallel mechanism, and the insertion or retraction of the pre-bent electrode during the implantation process, and the automation of the rotation adjustment along the axis of the cochlear labyrinth At the same time, the more sensitive force perception of the robot mechanism is also used to achieve precise control of the position. The present invention effectively solves the technical problem that human force sense is limited during the implantation of pre-bent electrodes, which causes the residual hearing of the patient to be easily damaged during the implantation process, effectively improves the accuracy and safety of implantation surgery, and reduces the risk of electrode implantation surgery. difficulty.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a schematic structural view of the electrode implantation device in the present invention.

Fig. 3 is a side view of the electrode implantation device in the present invention.

FIG. 4 is an enlarged view of A in FIG. 3 .

Fig. 5 is a schematic structural view of the electrode fixing groove at the front end of the pushing outer cylinder in the electrode implantation device of the present invention.

Fig. 6 is a schematic structural diagram of a six-degree-of-freedom parallel mechanism in the present invention.

Among them: electrode implantation device 10, push mechanism 11, guide wire positioning assembly 12, positioning inner cylinder 120, rectangular observation hole 121, bracket 122, clamping reed 123, piston 124, elastic element 125, base 126, electrode push assembly 13. Push outer cylinder 130, outer cylinder opening 131, electrode fixing groove 132, coupling 20, linear driver 21, drive shaft 211, pre-bent electrode 30, guide hole 301, tail 302, linear guide wire 40, snap joint 401 , Six degrees of freedom parallel mechanism 50, moving platform 51, fixed platform 52, SPS type branch chain 53, ball pair 531, ball pair 532, telescopic rod 533.

Detailed ways

The technical solutions of the present invention will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings. It should be noted that, on the premise of no conflict, the various embodiments or technical features described below can be combined arbitrarily to form new embodiments.

Referring to FIG. 1 and FIG. 6 , a cochlear electrode implantation robot based on a 6-SPS parallel mechanism includes an electrode implantation device 10 and a six-DOF parallel mechanism 50 . The electrode implantation device 10 is set on the moving platform 51 of the six-degree-of-freedom parallel mechanism 50 .

Referring to FIG. 2 , FIG. 3 and FIG. 6 , the electrode implantation device 10 includes a base 126 , a pushing mechanism 11 and a straight guide wire 40 pre-set in a guide hole 301 of the pre-bent electrode 30 . The electrode implantation device 10 is fixed on the moving platform 51 of the six-DOF parallel mechanism 50 through the base 126 . The straight guide wire 40 is arranged in the guide hole 301 of the pre-bent electrode 30 to make the pre-bent electrode straight. A snap joint 401 is disposed at the tail end of the straight guide wire 40 outside the tail portion 302 of the pre-bent electrode 30 . The clamping joint 401 is generally in the shape of a cone with a point pointing backward. The pushing mechanism 11 includes a guide wire positioning component 12 and an electrode pushing component 13 .

Referring to FIG. 4 , the guide wire positioning assembly 12 includes a bracket 122 fixed on a base 126 and a positioning inner cylinder 120 integrally connected with the bracket 122 . The positioning inner cylinder 120 and the bracket 122 are roughly arranged to intersect at right angles. A locking reed 123 extending backward in the shape of a barb is disposed in the positioning inner cylinder 120 . At least two clamping reeds 123 are uniformly distributed in the circumferential direction. The distance between the tail ends of the clamping reeds 123 is slightly smaller than the diameter of the large end of the clamping joint 401 . An elastic element 125 and a piston 124 are disposed in the positioning inner cylinder 120 inside the clamping reed 123 . The piston 124 is close to the tail end of the locking reed 123 , and the elastic element 125 is located between the piston 124 and the bottom of the positioning inner cylinder 120 . In this embodiment, the elastic element 125 is a compression spring. But in other embodiments, the elastic element 125 can be an elastic rubber block or other compressible materials. A rectangular viewing hole 121 is provided below the positioning inner cylinder 120 . The rectangular observation hole 121 axially corresponds to the position of the locking reed 123 . The arrangement of the rectangular viewing hole 121 facilitates the clamping joint 401 of the linear guide wire 40 to be clamped between the rear end of the clamping reed 123 and the piston 124 . The clamped joint 401 receives the elastic force of the clamping reed 123 and the elastic element 125 at the same time.

The electrode pushing assembly 13 includes a pushing outer cylinder 130 and a linear driver 21 arranged on the rear end of the pushing outer cylinder 130 . Referring to FIG. 5 , the front end of the pushing outer cylinder 130 is provided with an electrode fixing groove 132 for connecting with the tail end of the pre-bent electrode 30 . Although in this embodiment, the connection between the pushing outer cylinder 130 and the tail portion 302 of the pre-bent electrode 30 through the electrode fixing groove 132 is a detachable connection using screws, other detachable connection methods may also be used. The pushing outer cylinder 130 is sheathed outside the positioning inner cylinder 120 , and an outer cylinder opening 131 extending backward from the front end is provided on the lower wall of the pushing outer cylinder 130 . The outer cylinder opening 131 corresponds to the rectangular observation hole 121 where the inner cylinder 120 is positioned in the circumferential direction.

When the bracket 122 remains still, the pushing outer cylinder 130 slides forward relative to the positioning inner cylinder 120, forming a repulsive movement with the straight guide wire 40, that is, when the electrode pushing assembly 13 pushes the pre-bent electrode 30, the guide wire positioning assembly 12 makes The straight guide wire 40 remains still, and when the pre-bent electrode 30 moves forward, the straight guide wire 40 is pulled out from the guide hole 301 of the pre-bend electrode 30 at the same time. When the linear guide wire 40 is pulled out, due to the friction force of the soft silica gel of the main body of the pre-bent electrode 30, the clamping reed 123 generates a slight backward pulling force on the linear guide wire 40 through the clamp joint 401, or in other words, the clamp joint 401 exerts a slight pulling force on the linear guide wire 40. The reed 123 is slightly compressed and deformed. The piston 124 is pressed against the clip joint 401 under the action of the elastic element 125 , eliminating the positioning gap of the linear guide wire 40 . When the pre-bent electrode 30 is retracted under the action of the electrode pushing assembly 13, the elastic structure of the elastic element 125, the piston 124 and the snap joint 401 will retract synchronously with the pre-bend electrode 30, and the straight guide wire drawn out 40 is no longer largely inserted back into the guide hole, and the soft pre-bent electrode 30 will not be damaged or deformed. In this embodiment, the electrode pushing assembly 13 uses a linear driver 21 to move in the X-axis direction. The drive shaft 211 of the linear driver 21 and the pushing outer cylinder 130 can be connected in one structure, or a detachable connection structure of the shaft coupling 20 can also be adopted.

Due to the characteristic of the cochlear labyrinth winding two and a half times in space, the initial position of the electrode implantation needs to be adjusted at the entrance of the cochlea during the implantation process of the pre-bent electrode. The direction of the axis of the cochlear labyrinth is rotated. The six-degree-of-freedom parallel mechanism robotically implanted electrodes can use very small and stable force to implant the pre-bent electrode array into the accurate position and pull out the guide wire in time.

Referring to FIG. 6 , the six-degree-of-freedom parallel mechanism includes a moving platform 51 , a fixed platform 52 , and an SPS branch chain 53 . There are six SPS type branch chains 53 distributed between the moving platform 51 and the fixed platform 52 . In this embodiment, the six SPS branch chains 53 have the same structure, and all include telescopic rods 533 , and ball pairs 532 and 531 respectively arranged at both ends of the telescopic rods 533 . The upper ends of the six telescopic rods 533 are connected to the bottom surface of the moving platform 51 through the ball pair 531, and the lower ends are connected to the upper surface of the fixed platform 52 through the ball pair 532, forming a 6-SPS parallel structure.

The telescopic rod 533 is a linear motor in this embodiment. But it can also be a hydraulic cylinder or an electrically mounted ball screw connected to a guide rail.

The six-degree-of-freedom parallel mechanism can accurately control the position adjustment during electrode implantation, including the rotation of X, Y, and Z axes and the movement of X, Y, and Z axes. The movement in the X-axis direction is realized by the electrode pushing assembly 13 on the moving platform 51 .

The specific embodiments are for a clearer understanding of the present invention, and are not intended to limit the rights of the present invention. Various changes can be made without departing from the gist of the present invention. Obvious modifications are intended to be included within the scope of the claims.

Claims (6)

1. A cochlear electrode implant robot based on a 6-SPS type parallel mechanism, comprising a pre-bent electrode (30) that is pre-bent in a cochlear shape; A straight line guide wire (40) in the guide hole (301) that makes the pre-bent electrode (30) straight, and the straight line guide wire (40) is at the outer end of the tail (302) of the pre-bend electrode (30) A card connector (401) is provided; a push mechanism (11), the push mechanism (11) includes a guide wire positioning assembly (12) connected to the card connector (401), and the pre-bent electrode (30) The tail part (302) is connected with the electrode pushing assembly (13) that moves repulsively with the guide wire positioning assembly (12); the pushing mechanism (11) and the pre-bent electrode (30) are fixed in a six-degree-of-freedom parallel On the mechanism (50), the six-degree-of-freedom parallel mechanism (50) includes a fixed platform (52), a moving platform (51) and six identical structures connected between the fixed platform (52) and the moving platform (51). SPS type branched chain (53). 2. The cochlear electrode implant robot based on the 6-SPS type parallel mechanism according to claim 1, characterized in that: the SPS type branch chain (53) includes telescopic rods (533), respectively arranged on the telescopic The ball pair (531) and the ball pair (532) at the two ends of the rod (533). 3. The cochlear electrode implant robot based on the 6-SPS parallel mechanism according to claim 2, characterized in that: the telescopic rod (533) includes a linear motor or a hydraulic cylinder or a connecting rod mounted on a guide rail Motor ball screw. 4. The cochlear electrode implant robot based on 6-SPS parallel mechanism according to claim 1, 2 or 3, characterized in that: the electrode pushing assembly (13) includes a linear driver (21); The drive (21) consists of a linear motor or a hydraulic cylinder or a ball screw mounted on a guide rail connected to the motor. 5. The cochlear electrode implant robot based on 6-SPS parallel mechanism according to claim 1, 2 or 3, characterized in that: the guide wire positioning assembly (12) includes a positioning inner cylinder (120) and a setting At least two clamping reeds (123) in the shape of barbs and evenly distributed in the circumferential direction in the positioning inner cylinder (120). 6. The cochlear electrode implant robot based on the 6-SPS type parallel mechanism according to claim 5, characterized in that: the positioning inner cylinder (120) located at the inner end of the clamping reed (123) is provided with a There is an axial elastic element (125) acting in the direction of the clamping reed (123).