人工耳蜗预弯电极机器人植入力检测系统  

Robotic implantation force detection system of cochlear perimodiolar electrodes

作　　者：王佐 黎建军 郭家伟 吴拥真 陈华 WANG Zuo;LI Jianjun;GUO Jiawei;WU Yongzhen;CHEN Hua(Ma’anshan University,Ma’anshan 243100,China;College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;Department of Otorhinolaryngology,Eye&ENT Hospital of Fudan University,Shanghai 200031,China)

机构地区：[1]马鞍山学院,安徽马鞍山243100 [2]中国计量大学机电工程学院,浙江杭州310018 [3]复旦大学附属眼耳鼻喉科医院耳鼻喉科,上海200031

出　　处：《传感器与微系统》2023年第4期87-90,94,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51705493);浙江省自然科学基金资助项目(LY17E050016);安徽省教育厅自然科学研究重点资助项目(KJ2020A0844)。

摘　　要：针对人工耳蜗预弯电极机器人植入力检测开展研究,提出了一种人工耳蜗预弯电极机器人植入力检测方法。基于人工耳蜗植入特点,将自主设计的耳蜗鼓阶模型垂直安装于悬臂梁力传感器上,将电极植入过程中竖直方向的力等价为电极植入力。搭建人工耳蜗预弯电极植入力检测实验平台,分别进行预弯电极机器人和手动植入力检测实验。实验结果表明:机器人最大植入力为0.084 N,手动最大植入力为0.238 N,验证了机器人植入人工耳蜗的优越性和可行性。Research on the robotic implantation force detection of cochlear perimodiolar electrodes is carried out,and a method for robotic implantation force detection of cochlear perimodiolar electrodes is proposed.Based on the characteristics of cochlear implanting,the selfdesigned scala model is installed vertically on the cantilever beam force sensor,and the vertical force during the electrode implantation process is equivalent to the electrode implantation force.An experimental platform for measuring the force of cochlear implant is built,and the force measurement experiments of robotic cochlear implant of perimodiolar electrodes and manually cochlear implant are carried out respectively.The experimental results show that the maximum robotic implantation force is 0.084 N,and the maximum manually implantation force is 0.238 N,which verify the superiority and feasibility of robotic cochlear implant.

关 键 词：人工耳蜗植入 机器人 植入力 鼓阶模型 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] R764[自动化与计算机技术—控制科学与工程] TP242[医药卫生—耳鼻咽喉科]