基于视觉引导的脑机接口微电极精准植入系统设计  

Design and Implementation of a Precision Implantation System for Brain-Computer Interface Microneedle

作　　者：刘阳阳 陈汉威 王宏彬 韩博 邓永胜[1] 刘超[3] LIU Yang-yang;CHEN Han-wei;WANG Hong-bin;HAN Bo;DENG Yong-sheng;LIU Chao(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;Haian Institute of Intelligent Equipment,Shanghai Jiao Tong University,Nantong 226600,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]海安上海交通大学智能装备研究院,南通226600 [3]上海交通大学机械与动力工程学院,上海200240

出　　处：《科学技术与工程》2025年第2期667-673,共7页Science Technology and Engineering

基　　金：上海市自然科学基金(Z1ZR1430700);国家重点研发计划(2020YFB1313500)。

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。随着机器人技术、机器视觉及人工智能的快速发展,手术机器人渐渐在脑机接口植入手术中使用。面向微电极在SD大鼠(Sprague-Dawley)感知与运动皮层区域的精准植入需求,设计了一台以视觉引导为基础的脑机接口微电极精准植入系统。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与定位,引导执行机构完成电极埋植操作。通过模型分析与动物实验,该植入系统能够准确识别实验对象手术靶点,引导执行机构快速钻透颅骨并准确稳定植入电极到目标区域,有效地提高了微电极植入的准确性。BCI(brain computer interface)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.With the rapid development of robotics,machine vision and artificial intelligence,surgical robots are gradually used in brain-computer interface implantation surgery.To meet the demand for precise implantation of microelectrodes in the somatosensory and cerebral motor cortex of SD(Sprague-Dawley)rats,a vision-guided precision implantation system for brain-computer interface microelectrodes was presented.Based on the method of machine vision to identify the key points of the rat skull,the coordinate system was established to obtain the point cloud information of the rat skull,to realize the high-precision identification and localization of the target points,and to guide the actuator to complete the electrode implantation operation.Through model analysis and animal experiments,it has been demonstrated that the implantation system can accurately identify surgical targets on the subjects,guide the actuator to swiftly penetrate the skull,and accurately and stably implant the electrodes into the target area,which effectively improves the accuracy of microelectrode implantation.

关 键 词：脑机接口 微电极 钻植机构 多轴联动 位姿识别 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]