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 selfdesigned 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.
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 Hehai University,Shanghai 200031,China)
出处
《传感器与微系统》
CSCD
北大核心
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)。
关键词
人工耳蜗植入
机器人
植入力
鼓阶模型
cochlear implanting
robot
implantation force
scala tympani model
