CN108211112A - A kind of five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea - Google Patents
A kind of five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea Download PDFInfo
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- CN108211112A CN108211112A CN201810299759.2A CN201810299759A CN108211112A CN 108211112 A CN108211112 A CN 108211112A CN 201810299759 A CN201810299759 A CN 201810299759A CN 108211112 A CN108211112 A CN 108211112A
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- 238000002513 implantation Methods 0.000 title claims abstract description 38
- 210000003477 cochlea Anatomy 0.000 title claims abstract description 28
- 238000005452 bending Methods 0.000 claims abstract description 11
- 241000237858 Gastropoda Species 0.000 claims abstract description 6
- 235000014676 Phragmites communis Nutrition 0.000 claims description 19
- 230000000903 blocking effect Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 4
- 206010058109 Hangnail Diseases 0.000 claims description 2
- 244000273256 Phragmites communis Species 0.000 claims 2
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000003780 insertion Methods 0.000 abstract description 3
- 230000037431 insertion Effects 0.000 abstract description 3
- 239000007943 implant Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 206010011878 Deafness Diseases 0.000 description 3
- 239000008119 colloidal silica Substances 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 241000122159 Modiolus Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 244000089486 Phragmites australis subsp australis Species 0.000 description 1
- 229920000297 Rayon Polymers 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000860 cochlear nerve Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 231100000895 deafness Toxicity 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 210000002592 gangliocyte Anatomy 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 208000016354 hearing loss disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/02—Details
- A61N1/04—Electrodes
- A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
- A61N1/0526—Head electrodes
- A61N1/0541—Cochlear electrodes
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Otolaryngology (AREA)
- Cardiology (AREA)
- Radiology & Medical Imaging (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of 4 UPS/RPS automatic implantation apparatus of five degree of freedom of the pre- cranked electrode of cochlea, including being in pre- cranked electrode that snail turns shape pre-bending；Including being preset in the straight line seal wire in pre- one guide hole of cranked electrode and stretching pre- cranked electrode, straight line seal wire is equipped with a clamping joint in the tail portion outer end of the pre- cranked electrode；Delivery device, the electrode that delivery device includes the seal wire positioning component being connect with clamping joint, connect with pre- cranked electrode tail portion and repels each other mobile with seal wire positioning component push component；Two turn of three shifting parallel institution, described two turn three is moved the one-movement-freedom-degree that parallel institution includes X-axis, the rotational freedom of Y-axis and X-axis, Y-axis and Z axis；The pre- cranked electrode and the delivery device are fixed on one two turns three and move on parallel institution；The push direction of the electrode push component is consistent with the X-axis or Y-axis.Parallel institution, which is moved, by one two turns three realizes that the initial position of electrode implantation adjusts, the insertion or withdrawal of pre- cranked electrode in implantation, and the automation of rotation adjustment is carried out along cochlea axis direction, and feel using the more sensitive power of robot mechanism and perceive, realize the accurate control of position.
Description
Technical field
The present invention relates to a kind of implanted device of the pre- cranked electrode of medical treatment, more particularly to a kind of ear using parallel robot
The five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of snail.
Background technology
Artificial cochlea is a kind of electronic device, and the telecommunications of certain coding form is converted sound by external speech processor
Number, auditory nerve is directly stimulated by the electrode system to implant to restore, improve and rebuild the auditory function of deaf person.Nearly 20
For many years, as high-tech development, artificial cochlea are quickly grown, enter clinical practice from experimental study.Present full generation
Using artificial cochlea's conventional method deaf to complete deafness as treatment severe, artificial cochlea is to be cured at present with most successful biology on boundary
Learn design library part editor and reuse.
Pre- cranked electrode makes the snail similar to cochlea bending and turns form in itself, for convenience be implanted into, in the electrodes between be equipped with
One guide hole is simultaneously inserted into a straight positioning guide wire, and electrode is forced to stretch linear state before implantation.If notification number is CN
The Chinese utility model patent of 201260735Y discloses a kind of cochlear implant electrode implantation device, including colloidal silica and is pre-bent to
The pole matrix of cochlea shape, pole matrix are made of electrode retaining collar, wire electrode, it is integral with colloidal silica encapsulation, and feature is backwards to pole battle array
The silicon limbs of connection are equipped with several supporting sections, and supporting section is integrated with colloidal silica, and supporting section is equipped with parallel with pole matrix thin
Long through-hole, support steel core is penetrated in through-hole makes the pole matrix for being pre-bent to cochlea shape straight.When carrying out the implantation of the pre- cranked electrode, when
After being implanted into a part of electrode, cochlea initially enters spiral status, then extracts a part of electrode seal wire out, extracts the electrode of guide wire portion out
The then form of self-assembling formation bending.With the increase of implantation depth, extraction seal wire is also more, and electrode bending is also more, until planting
Enter to terminate, pre- cranked electrode has modiolus in arms naturally.Electrode can be made preferably to stimulate spiral remaining in modiolus using pre- cranked electrode
Gangliocyte.
Doctor during pre-bending electrode surgery is implanted into, doctor need to judge pre- cranked electrode and straight line seal wire when with inner wall
Touching, while coordinated manipulation implant electrode and the straight line seal wire for extracting appropriate length out.Existing medical procedure is in implantable artificial cochlea
During pre- cranked electrode, one hand of doctor clamps pre- cranked electrode by surgical instrument and carries out electrode implantation, and another hand extracts seal wire,
It is implanted by both hands cooperation.As electrode implantation depth is more and more deeper, extraction seal wire amount is increasingly longer, preceding termination electrode and ear
Snail contact is more and more, and frictional force during implantation is increasing, to pre- cranked electrode and seal wire head and the interference of inner wall contact force
It is bigger, so as to which feel can be obscured increasingly；Doctor is during implant electrode simultaneously, it is also necessary to change implant angle to be more suitable for
Cochlear labyrinth, these are judged entirely with feel and experience.And mankind's power feels that perceived minimum value is about 25mN, perception
There are lowest threshold limitation, and electrode is caused easily to be surrendered and the characteristics of the residual hearing of the easy injured patient of implantation process, greatly
The big operation difficulty for increasing implant surgery.Therefore, pre- cranked electrode implantation is a very challenging operation, is needed big
The professional training of amount and abundant clinical experience, and the doctor for grasping pre- cranked electrode implant surgery is few for number.
Invention content
Five degree of freedom 4-UPS/RPS it is an object of the present invention to provide a kind of pre- cranked electrode of cochlea is implanted into dress automatically
It puts, in a manner of repelling each other simultaneously is pulled out preset straight line seal wire by the moving structure that repels each other when pushing pre- cranked electrode, solution
Having determined when pre- cranked electrode is implanted into needs both hands to coordinate, and to electrode positioning accuracy difficulty, position adjusts the problem of inconvenient.Also, pass through
One two turns three are moved parallel mechanism robot and realize the automation of pre- cranked electrode implantation, while also utilize the position of robot mechanism
It is accurate to control and feel the characteristics of perception is more sensitive than mankind power, it is more accurate to the control of position when pre- cranked electrode is implanted into,
So as to efficiently solve pre- cranked electrode implantation process at least the above and/or defect, and provide at least will be described later it is excellent
Point.
The technical solution adopted by the present invention is：A kind of five degree of freedom 4-UPS/RPS of the pre- cranked electrode of cochlea is implanted into dress automatically
It puts, including being in pre- cranked electrode that snail turns shape pre-bending；Including being preset in one guide hole of pre- cranked electrode and making the pre-bending electricity
Extremely straight straight line seal wire, the straight line seal wire are equipped with a clamping joint in the tail portion outer end of the pre- cranked electrode；Delivery device, institute
Delivery device is stated to include the seal wire positioning component connecting with the clamping joint, connect with the pre- cranked electrode tail portion and lead with described
The electrode push component that silk positioning component repels each other mobile；The pre- cranked electrode and the delivery device are fixed on one two turns three shiftings
On parallel institution, described two turn three is moved parallel institution and includes the movement of X-axis, the rotational freedom of Y-axis and X-axis, Y-axis and Z axis certainly
By spending；The push direction of the electrode push component is consistent with the X-axis or Y-axis.It is real that parallel institution is moved by one two turns three
The initial position of now pre- cranked electrode implantation carries out position adjustment in cochlea inlet, in implantation process the insertion of pre- cranked electrode or
It withdraws, and the automation of rotation adjustment is carried out along cochlear labyrinth axis direction, meanwhile, it is also more sensitive using robot mechanism
Power, which is felt, to be perceived, and realizes the accurate control of position.Mankind's power feels sense limitation when the present invention efficiently solves pre- cranked electrode implantation, and leads
The technical issues of causing the residual hearing of implantation process easy damaged patient, effectively increases precision and the safety of implant surgery, drops
The low difficulty of electrode implant surgery.
Preferably, described two turn three is moved parallel institution and includes fixed platform, moving platform and be connected to the fixed platform with moving
In X-axis and the symmetrical four unconstrained branches of Y direction and a constrained branched chain between platform.The technical solution is simple by one
Ground is in the six-degree-of-freedom parallel connection mechanism of unconstrained branch chain link by setting rotational freedom of the constrained branched chain to Z-direction
It is constrained, realizes the rotation in X, Y both direction and the movement in X, Y, Z axis direction.Specifically, the unconstrained branch packet
Include telescopic rod, the secondary and universal knot of ball for being separately positioned on the telescopic rod both ends.Due to carrying out Z axis using independent constrained branched chain
The rotational freedom limitation in direction so that the setting of unconstrained branch is freer, and the setting using ball pair and universal knot
So that structure is simpler.And further, the telescopic rod includes linear motor or hydraulic cylinder or on guide rail
Connect the ball-screw of motor.
Preferably, the constrained branched chain includes the revolute pair of strut one end and be arranged on the strut other end ten thousand
Xiang Jie.The setting can increase the rigidity of constrained branched chain, increase and rotation of the moving platform in Z-direction is limited.
Preferably, the electrode push component includes a linear actuator；The linear actuator includes linear motor
Or hydraulic cylinder or the electric drive ball-screw that is connected on guide rail.
Preferably, it is in hangnail that the seal wire positioning component, which includes a positioning inner cylinder and is arranged in the positioning inner cylinder,
Shape and in circumferentially uniformly distributed at least two blocking reeds.The blocking reed facilitates being caught in for clamping joint, meanwhile, elastic reaction disappears
In addition to the position gap of straight line seal wire.
Preferably, one is equipped in the positioning inner cylinder positioned at the blocking reed inner end to the blocking reed side
To the axial elasticity element of effect.On clamping joint under piston and elastic element collective effect, straight line can be further eliminated
The position gap of seal wire.And when pre- cranked electrode puts adjustment retraction in place, pass through the elasticity of elastic element, piston and clamping joint
Buffering, the retraction synchronous with the generation of pre- cranked electrode are generated under structure function.
Technical solution of the present invention moves parallel institution by one two turns three and realizes that the initial position of electrode implantation enters in cochlea
Position adjustment, the insertion or withdrawal of pre- cranked electrode in implantation process are carried out at mouthful, and is revolved along cochlear labyrinth axis direction
The whole automation of modulation, meanwhile, also felt using the more sensitive power of robot mechanism and perceived, realize the accurate control of position.This
Mankind's power feels sense limitation when invention efficiently solves pre- cranked electrode implantation, and leads to the residual hearing of implantation process easy damaged patient
The technical issues of, precision and the safety of implant surgery are effectively increased, reduces the difficulty of electrode implant surgery.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structure diagram of electrode implanted device in the present invention.
Fig. 3 is the side view of electrode implanted device in the present invention.
Fig. 4 is the enlarged view at A in Fig. 3.
Fig. 5 is the electrode fixed slot configurations schematic diagram that outer cylinder front end is pushed in electrode implanted device of the present invention.
Fig. 6 is the structure diagram of two turn of three shifting parallel institution in the present invention.
Fig. 7 is the enlarged view at B in Fig. 6.
Wherein：Electrode implanted device 10, delivery device 11, seal wire positioning component 12, positioning inner cylinder 120, rectangular viewing aperture
121st, stent 122, blocking reed 123, piston 124, elastic element 125, pedestal 126, electrode push component 13, push outer barrel
130th, outer barrel opening 131, electrode fixing groove 132, shaft coupling 20, linear actuator 21, drive shaft 211, pre- cranked electrode 30, guide hole
301st, tail portion 302, straight line seal wire 40,401, two turn three of clamping joint move parallel institution 50, moving platform 51, fixed platform 52, unconstrained
Branch 53, ball pair 531, telescopic rod 532, universal knot 533, the first pivotal line 534, the second pivotal line 535, constrained branched chain 54, ball
Pair 541, strut 542, shaft coupling 543, revolute pair 544.
Specific embodiment
Below by specific embodiment, and with reference to attached drawing, technical scheme of the present invention is further described specifically.It needs
It is noted that under the premise of not colliding, it can be arbitrary between various embodiments described below or between each technical characteristic
Combination forms new embodiment.
Referring to Fig. 1, a kind of automatic implantation apparatus of the pre- cranked electrode of cochlea moves simultaneously including electrode implanted device 10 and two turn three
Online structure 50.The electrode implanted device 10 is arranged on the moving platform 51 of two turn of three shifting parallel institution 50.
Referring to Fig. 2 and Fig. 3, which includes pedestal 126, delivery device 11 and is preset in pre- cranked electrode
Straight line seal wire 40 in 30 guide hole 301.Electrode implanted device 10 is fixed on this two turn three by the pedestal 126 and moves parallel connection
On the moving platform 51 of mechanism 50.The straight line seal wire 40, which is arranged in the guide hole 301 of the pre- cranked electrode 30, makes the electrode of pre-bending straight.
40 tail end of straight line seal wire outside pre- 30 tail portion 302 of cranked electrode is equipped with a clamping joint 401.The clamping joint 401 is substantially in point
The cone of head backward.The delivery device 11 includes a seal wire positioning component 12 and electrode push component 13.
Referring to Fig. 4, the seal wire positioning component 12 include a stent 122 being fixed on pedestal 126 and with the stent 122
In the positioning inner cylinder 120 of integrally connected.The positioning inner cylinder 120 is substantially at right angles arranged in a crossed manner with stent 122.In the positioning inner cylinder
The blocking reed 123 to extend back in reversed acanthoid is equipped in 120.The blocking reed 123 is at least two panels and is uniformly arranged in circumferential.
The distance between 123 tail end of blocking reed is slightly less than the diameter of 401 big end of clamping joint.Positioned at the inside of blocking reed 123, this is fixed
An elastic element 125 and a piston 124 are equipped in the inner cylinder 120 of position.The piston 124 is close to the tail end of blocking reed 123, the elasticity
Between 125 pistons 124 of element and the bottom for positioning inner cylinder 120.In the present embodiment, which is a compression bullet
Spring.But in other embodiments, which can be an elastic blob of viscose or other compressible materials.In the positioning
A rectangular viewing aperture 121 is equipped with below cylinder 120.The axial position for corresponding to blocking reed 123 of the rectangular viewing aperture 121.It should
The setting of rectangular viewing aperture 121 snaps onto the rear end of blocking reed 123 and piston 124 convenient for the clamping joint 401 of straight line seal wire 40
Between.Clamping joint 401 after being caught in is simultaneously by blocking reed 123 and the elastic force of elastic element 125.
The linear actuator that electrode push component 13 includes push outer barrel 130 and is arranged on 130 rear end of push outer barrel
21.Referring to Fig. 5, which is equipped with an electrode fixing groove 132, for making to connect with pre- 30 tail portion 302 of cranked electrode
It connects.Although in the present embodiment, which is to adopt by the connection of electrode fixing groove 132 and pre- 30 tail portion 302 of cranked electrode
With being detachably connected for screw, but it is alternatively other detachable connections.The push outer barrel 130 is set in positioning inner cylinder 120
Outside, the outer barrel opening 131 to extend back from front end is equipped on barrel below push outer barrel 130.Outer barrel opening 131 is in week
It is corresponding with positioning the rectangular viewing aperture 121 of inner cylinder 120 upwards.
When stent 122 remains stationary as, 130 relative positioning inner cylinder of push outer barrel, 120 forward slip, with 40 shape of straight line seal wire
Into the movement that repels each other, i.e., when electrode push component 13 pushes pre- cranked electrode 30, seal wire positioning component 12 keeps straight line seal wire 40
Motionless, when being formed in pre- cranked electrode 30 and moving ahead, straight line seal wire 40 is extracted out from the guide hole 301 of pre- cranked electrode 30 simultaneously.The straight line
For seal wire 40 in extraction, due to the frictional force of pre- 30 main body soft silica gel of cranked electrode, blocking reed 123 is by clamping joint 401 to straight
Line seal wire 40 generates a slight rearward pulling force, and clamping joint 401 generates blocking reed 123 slight compression and becomes in other words
Shape.And piston 124 is pressed under the action of elastic element 125 on clamping joint 401, between the positioning for eliminating straight line seal wire 40
Gap.When pre- cranked electrode 30 is bounced back under the action of electrode push component 13, pass through elastic element 125, piston 124 and card
The elastic construction effect of connector 401 is lower to generate synchronous retraction with pre- cranked electrode 30, and the straight line seal wire 40 of extraction is no longer significantly
It turns back in guide hole, damage or deformation will not be generated to soft pre- cranked electrode 30.In this embodiment, the electrode push group
Part 13 realizes the movement in X-direction using linear actuator 21.The drive shaft 211 of the linear actuator 21 and push outer barrel
130 can be integrated connection structure, and the detachable connection structure of shaft coupling 20 can also be used.
Since cochlear labyrinth is spatially around the characteristic of two circles half, in pre- cranked electrode implantation process, need to plant at electrode
The initial position entered carries out position adjustment in cochlea inlet, and implantation process needs are inserted electrodes into/withdrawn, and along cochlear labyrinth
Axis direction is rotated.Therefore, four degree of freedom are needed when pre- cranked electrode is implanted into automatically, i.e.,：X, Y two degree of freedom directions
Rotation and X, the movement of Z-direction.Therefore, two turn of three shifting parallel mechanism robot implant electrode can be used very small and be stablized
Power by pre-bending electrod-array be implanted on accurate position and in due course extraction seal wire be that the feasible of artificial cave is done
Method.
Referring to Fig. 6, this two turn three shifting parallel institution, including moving platform 51, fixed platform 52, unconstrained branch 53 and about bundle branch
Chain 54.The unconstrained branch 53 is four, and rectangular distribution is arranged between moving platform 51 and fixed platform 52, the constrained branched chain 54
It is one, is arranged between moving platform 51 and fixed platform 52.In the present embodiment, this four unconstrained branches 53 and moving platform 51
Tie point it is square be distributed on the same circumference of moving platform 51, the connection of this four unconstrained branches 53 and fixed platform 52
Point is rectangle on the same circumference for being distributed in fixed platform 52, and constrained branched chain 54 is arranged on circle where this four unconstrained branches 53
The center in week.The unconstrained branch 53 has six-freedom degree, which constrains the Z-direction of unconstrained branch 53
Rotational freedom.
This four unconstrained 53 structures of branch are identical, including telescopic rod 532, are separately positioned on the telescopic rod
The ball pair 531 and universal knot 533 at 532 both ends.Referring to Fig. 7, in the present embodiment, universal 533 one end of knot and telescopic rod 532
Bottom end is fixedly connected, and the other end is fixedly connected with fixed platform 52.Also, 534 and second pivotal line 535 of the first pivotal line
It is parallel with the plane where fixed platform 52.But in a further embodiment, this four unconstrained branches 53 are with moving platform 51 and calmly
Connection structure between platform 52 can be opposite with the present embodiment.That is, one end of the universal knot 533 and the top of telescopic rod 532
It is fixedly connected, one end of the universal knot 533 is fixedly connected with the moving platform 51.First pivotal line, 534 and second pivot
Line 535 is parallel with the plane where the moving platform 51.
The telescopic rod 532 is linear motor in the present embodiment.It may also be hydraulic cylinder is either connected on guide rail
Electricity installation ball-screw.Parallel institution makees the rotation around X-axis or Y-axis by the extension and contraction control moving platform 51 of the telescopic rod 532.
The constrained branched chain 54 includes ball pair 541 and is arranged on the revolute pair connected on 542 one end of strut by shaft coupling 543
544.In the present embodiment, 544 one end of revolute pair of the constrained branched chain 54 is connected to the top of the strut 542 of ball pair 541, this turn
The other end of dynamic pair 544 is connected on moving platform 51.The bottom end of the ball pair 541 is connected on fixed platform 52.The constrained branched chain 54
Unconstrained branch 53 is constrained in the rotational freedom of Z-direction.
This two turn three is moved the position that parallel institution is accurately controlled in electrode implantation process and adjusted, the rotation including X, Y-axis
With the movement of X, Y, Z axis.And the movement of X-direction is then realized using the electrode push component 13 on moving platform 51.
Specific embodiment is to be more clearly understood that the present invention, is not intended as a kind of limitation to right of the present invention,
Under the premise of not departing from present inventive concept, can there is various variations, all these field technology personnel are shown and
The modification being clear to is included within the scope of present claims.
Claims (9)
1. a kind of five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea, including being in pre-bending that snail turns shape pre-bending
Electrode (30)；It is characterized in that：Including being preset in (30) one guide hole (301) of pre- cranked electrode and making the pre- cranked electrode
(30) straight straight line seal wire (40), the straight line seal wire (40) are equipped in tail portion (302) outer end of the pre- cranked electrode (30)
One clamping joint (401)；Delivery device (11), the delivery device (11) are determined including the seal wire being connect with the clamping joint (401)
Hyte part (12) connect with the pre- cranked electrode tail portion (302) and repels each other mobile electrode with the seal wire positioning component (12)
Push component (13)；The pre- cranked electrode (30) and the delivery device (11) are fixed on one two turns three and move parallel institution (50)
On, it is described two turn three move parallel institution (50) including fixed platform (52), moving platform (51) and be connected to the fixed platform (52) and
In X-axis and the unconstrained branch (53) of symmetrical four of Y direction and a constrained branched chain (54) between moving platform (51).
2. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claim 1, feature exist
In：The unconstrained branch (53) is secondary (531) including telescopic rod (532), the ball for being separately positioned on the telescopic rod (532) both ends
With universal knot (533).
3. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claim 2, feature exist
In：The ball wire of connection motor of the telescopic rod (532) including linear motor or hydraulic cylinder or on a guide rail
Thick stick.
4. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to Claims 2 or 3, special
Sign is：The constrained branched chain (54) includes revolute pair (544) and the ball pair being arranged on the revolute pair (544) one end
(541)。
5. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claim 4, feature exist
In：It is in hangnail that the seal wire positioning component (12) positions inner cylinder (120) and be arranged in the positioning inner cylinder (120) including one
Shape and in circumferentially uniformly distributed at least two blocking reeds (123).
6. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claim 4, feature exist
In：The electrode push component (13) includes a linear actuator (21)；The linear actuator (21) including linear motor or
The ball-screw of hydraulic cylinder or the connection motor on a guide rail.
7. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claims 1 or 2 or 3,
It is characterized in that：The electrode push component (13) includes a linear actuator (21)；The linear actuator (21) is including straight line
The ball-screw of motor or hydraulic cylinder or the connection motor on a guide rail.
8. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claims 1 or 2 or 3,
It is characterized in that：The seal wire positioning component (12) is including a positioning inner cylinder (120) and is arranged in the positioning inner cylinder (120)
In reversed acanthoid and in circumferentially uniformly distributed at least two blocking reeds (123).
9. the five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea according to claim 8, feature exist
In：One is equipped in the positioning inner cylinder (120) positioned at blocking reed (123) inner end to the blocking reed (123)
The axial elasticity element (125) of direction effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299759.2A CN108211112A (en) | 2018-04-04 | 2018-04-04 | A kind of five degree of freedom 4-UPS/RPS automatic implantation apparatus of the pre- cranked electrode of cochlea |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1027003B1 (en) * | 2019-07-09 | 2020-08-21 | Univ Jiliang China | 4-SPU / RRPU automatic implantation device with five degrees of freedom for a pre-curved type cochlear electrode |
| FR3102062A1 (en) * | 2019-10-22 | 2021-04-23 | Collin | Otological surgery robotic instrument and installation for capturing and maintaining a cochlear implant electrode holder |
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2018
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1027003B1 (en) * | 2019-07-09 | 2020-08-21 | Univ Jiliang China | 4-SPU / RRPU automatic implantation device with five degrees of freedom for a pre-curved type cochlear electrode |
| FR3102062A1 (en) * | 2019-10-22 | 2021-04-23 | Collin | Otological surgery robotic instrument and installation for capturing and maintaining a cochlear implant electrode holder |
| WO2021079058A1 (en) * | 2019-10-22 | 2021-04-29 | Collin | Instrument and robotic installation for otologic surgery for capturing and holding a cochlear implant electrode holder |
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