一种脑机接口微电极精准植入系统设计与实现
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1.东北大学机械工程与自动化学院;2.上海交通大学机械与动力工程学院;3.海安上海交通大学智能装备研究院

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TP391.4

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Design and Implementation of a Precision Implantation System for Brain-computer Interface Microneedle
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1.School of Mechanical Engineering and Automation,Northeastern University;2.School of Mechanical Engineering,Shanghai Jiao Tong University;3.Hai’an Institute of Intelligent Equipment,Shanghai Jiao Tong University

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    摘要:

    脑机接口是脑认知、脑医学、类脑研究等领域的重要研究手段之一,其微电极的精准植入是该领域研究的必要前提和重要保证。面向微电极在SD大鼠感知与运动皮层区域的精准植入需求,本文设计了一种集成靶点识别、颅骨钻削、精准植入等功能于一体的高精度、高灵活性精准埋植系统。首先基于机器视觉的方法识别大鼠颅骨关键点,以此建立坐标系获取大鼠颅骨点云信息,实现靶点的高精度识别。之后,基于手眼系统建立机器人运动学求解模型,实现运动基台的高精度定位。最后通过钻刀的微运动实现颅骨钻孔或开窗,夹持机构的高精度微运动实现微电极的精准植入。实验结果表明,钻植模块能够快速钻透颅骨并准确稳定植入电极到目标区域。

    Abstract:

    Brain computer interface (BCI) is one of the important research methods in the fields of brain cognition, brain medicine and brain-like research,where the precise implantation of microelectrodes is a necessary prerequisite and important guarantee. To meet the demand for precise implantation of microelectrodes in the somatosensory and cerebral motor cortex of SD rats, this paper designs a high-precision and high-flexibility precise implantation system which integrates target recognition, cranial drilling, and precise implantation. Firstly, the machine vision method is used to realize high-precision target recognition by identifying the key points of rat cranial bone, and establishing the coordinate system for obtaining the point cloud information of rat cranial bone. Then, based on the hand-eye system, a robot kinematics solution model is established to achieve high-precision positioning of the motion base. Finally, the precise implantation of microelectrodes is achieved through the drilling micro-movement of penetrating the cranial bone or making a window, and the clamp high-precision micro-movement of implanting the electrode. The experimental results show that the drilling and planting module can drill through the skull quickly and implant the electrode to the target area accurately and stably.

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刘阳阳,陈汉威,王宏彬,等. 一种脑机接口微电极精准植入系统设计与实现[J]. 科学技术与工程, , ():

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  • 收稿日期:2024-01-16
  • 最后修改日期:2024-04-11
  • 录用日期:2024-04-25
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