阅读说明：本技术 一种神经肌肉电生理检查机器人 (Robot for electrophysiological examination of neuromuscular ) 是由 马红红 于 2021-08-25 设计创作，主要内容包括：本发明公开了一种神经肌肉电生理检查机器人,包括记录机器人、执行机器人、导航机器人和控制系统；记录机器人包括支撑台、基座、松紧记录带和第一定位装置,第一定位装置能够对待刺激神经部位和待穿刺肌肉部位进行定位；执行机器人上设置有多轴机械臂,多轴机械臂上连接有夹持装置和第二定位装置,夹持装置能够夹持刺激器或针电极；导航机器人能够识别第一定位装置和第二定位装置的位置并将信息发送给控制系统,控制系统能够控制多轴机械臂运动进而带动夹持装置运动至第一定位装置定位的待刺激神经部位和待穿刺肌肉部位,使刺激器或针电极对待刺激部位进行刺激或穿刺；本装置能够提高神经电生理检查和肌肉电生理检查的过程中的检测效率。(The invention discloses a neuromuscular electrophysiological examination robot, which comprises a recording robot, an execution robot, a navigation robot and a control system, wherein the recording robot is connected with the execution robot through a cable; the recording robot comprises a supporting table, a base, a flexible recording tape and a first positioning device, wherein the first positioning device can position a nerve part to be stimulated and a muscle part to be punctured; the execution robot is provided with a multi-axis mechanical arm, the multi-axis mechanical arm is connected with a clamping device and a second positioning device, and the clamping device can clamp a stimulator or a needle electrode; the navigation robot can identify the positions of the first positioning device and the second positioning device and send information to the control system, and the control system can control the multi-axis mechanical arm to move so as to drive the clamping device to move to a nerve part to be stimulated and a muscle part to be punctured which are positioned by the first positioning device, so that the stimulator or the needle electrode stimulates or punctures the part to be stimulated; the device can improve the detection efficiency in the process of nerve electrophysiology examination and muscle electrophysiology examination.)

1. A robot for neuromuscular electrophysiological examination is characterized by comprising a recording robot, an executing robot, a navigation robot and a control system;

the recording robot comprises a positioning mechanism and a recording mechanism, the positioning mechanism comprises a supporting platform (101), a base and a first positioning device (113), the base is arranged on the support platform (101), and comprises a front base plate (103), a rear base plate (104), two front side plates (105) and two rear side plates (106), wherein the two front side plates (105) are distributed on the front base plate (103) along the left-right direction, the front side plates (105) can move left and right on the front base plate (103), the two rear side plates (106) are distributed on the rear base plate (104) along the left-right direction, the rear side plates (106) can move left and right on the rear base plate (104), guide rails (107) are fixed on the rear side plates (106), the guide rails (107) extend to the front parts of the front side plates (105), sliding blocks (112) are arranged on the guide rails (107) in a sliding manner, first positioning devices (113) are connected with the sliding blocks, and the first positioning devices (113) can position nerve parts to be stimulated and muscle parts to be punctured of a body;

the recording mechanism can record the electric signal of the recording part by using the recording electrode slice (110) and transmit the signal to the control system;

the execution robot comprises a base (201), wherein a multi-axis mechanical arm (202) is arranged on the base (201), an end effector (203) is connected onto the multi-axis mechanical arm (202), a clamping device (204) and a second positioning device (205) are connected onto the end effector (203), and the clamping device (204) can clamp a stimulator or a needle electrode;

the navigation robot (301) can identify the positions of the first positioning device (113) and the second positioning device (205) and send information to the control system, and the control system can control the multi-axis mechanical arm (202) to move so as to drive the clamping device (204) to move to a to-be-stimulated nerve part positioned by the first positioning device (113), so that the stimulator stimulates the to-be-stimulated nerve part; or the control system can control the multi-axis mechanical arm (202) to move so as to drive the clamping device (204) to move to the muscle part to be punctured positioned by the first positioning device (113), so that the needle electrode performs puncture examination on the muscle part to be punctured.

2. The robot for the neuromuscular electrophysiological examination according to claim 1, wherein the recording mechanism is a flexible recording tape (109), guide rails (107) are fixed on both the two rear side plates (106), fixing buckles (108) are slidably arranged on the guide rails (107), one fixing buckle (108) on one guide rail (107) and one fixing buckle on the other guide rail (107) form a fixing unit, and the flexible recording tape (109) is fixed on the two fixing buckles (108) of the fixing unit;

the inner side surface of the elastic recording belt (109) is provided with a recording electrode plate (110), the elastic recording belt (109) is provided with a single chip microcomputer and a wireless communication module, the recording electrode plate (110) can detect an electric signal of a recording part and transmit the signal to the single chip microcomputer, and the single chip microcomputer can transmit the signal to a control system through the wireless communication module.

3. The robot for the neuromuscular electrophysiological examination of claim 1, wherein the recording mechanism comprises a first multi-axis mechanical arm, a recording electrode plate (110), a single chip microcomputer and a wireless communication module, the recording electrode plate (110), the single chip microcomputer and the wireless communication module are all arranged on the first multi-axis mechanical arm, the first multi-axis mechanical arm can drive the recording electrode plate (110) to move to a recording position, the recording electrode plate (110) can detect an electric signal of the recording position and transmit the signal to the single chip microcomputer, and the single chip microcomputer can transmit the signal to the control system through the wireless communication module.

4. The robot for neuromuscular electrophysiological examination of claim 1, wherein the end effector (203) is provided with a multidimensional force sensor (206), and the multidimensional force sensor (206) is capable of detecting a pressure applied to the stimulator in contact with the skin of the human body or a pressure applied to the needle electrode inserted into the human body and transmitting information to the control system.

5. The robot for neuromuscular electrophysiological examination according to claim 1, further comprising two first chest-developer (114) and a second chest-developer (115), wherein the two first chest-developers (114) are respectively located on both sides of the two front plates (105), inner ends of the two first chest-developers (114) are located between the two front plates (105), the inner end of the first chest-developer (114) is a force-receiving device, and the inner end of the first chest-developer (114) can move left and right; the second chest developer (115) is positioned on the front side plates (105), the rear end of the second chest developer (115) is positioned between the two front side plates (105), and the rear end of the second chest developer (115) is a stress device.

6. The robot for the neuromuscular electrophysiological examination of claim 1, wherein the support platform (101) is provided with a first cylinder (116), the first cylinder (116) is connected to the front substrate (103) or the rear substrate (104), and the first cylinder (116) can drive the front substrate (103) or the rear substrate (104) to move left and right.

7. The robot for the neuromuscular electrophysiological examination of claim 1, wherein the front base plate (103) is provided with two second cylinders (117), the two second cylinders (117) are respectively connected to the two front plates (105), and the second cylinders (117) can drive the front plates (105) to move left and right.

8. The robot for the neuromuscular electrophysiological examination of claim 1, wherein the rear base plate (104) is provided with two third cylinders (118), the two third cylinders (118) are respectively connected to the two rear side plates (106), and the third cylinders (118) can drive the rear side plates (106) to move left and right.

9. The robot for neuromuscular electrophysiological examination according to claim 1, wherein the outer side surface of the flexible recording tape (109) has an indication mark for assisting in determining a recording site, the indication mark corresponding to a position of the recording electrode sheet (110).

10. A robot for neuromuscular electrophysiological examination according to claim 1, wherein the elastic recording band (109) is connected to a ground wire, and the ground wire is capable of contacting the ground through an electrode clamp.

Technical Field

The invention relates to the technical field of medical auxiliary instruments, in particular to a robot for electrophysiological examination of neuromuscular.

Background

The neuroelectrophysiological examination uses an electric pulse to stimulate nerves while recording with a recording electrode sheet placed on the skin. Mainly relates to an examination method for examining the functions of the peripheral nervous system. The specific process is that the recording electrode slice is placed on the muscle innervated by the nerve to be tested, and the electrophysiological reaction of the muscle is recorded by stimulating the nerve at different positions of the limb. Therefore, the quality of the nerve condition can be judged, and the speed of nerve conduction can be judged, so that a clinician can be helped to judge the illness state of a patient.

The muscle electrophysiology examination is to insert a needle electrode into a specific muscle to study the electrical activity of the muscle and to determine the condition of a patient.

In the process of neuroelectrophysiology examination and muscle electrophysiology examination, doctors need to examine each peripheral nerve and limb muscle of patients one by one according to the illness state of the patients, and at present, the examinations are all performed by the doctors manually, so that the efficiency is low, and time and labor are wasted.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the robot for the neuromuscular electrophysiological examination, which can improve the detection efficiency and the detection accuracy in the process of the neuromuscular electrophysiological examination and the muscle electrophysiological examination.

A robot for neuromuscular electrophysiological examination comprises a recording robot, an executing robot, a navigation robot and a control system;

the recording robot comprises a positioning mechanism and a recording mechanism, the positioning mechanism comprises a supporting table, a base and a first positioning device, the base is arranged on the supporting table and comprises a front base plate, a rear base plate, two front side plates and two rear side plates, the two front side plates are distributed on the front base plate along the left-right direction, the front side plates can move left and right on the front base plate, the two rear side plates are distributed on the rear base plate along the left-right direction, the rear side plates can move left and right on the rear base plate, guide rails are fixed on the rear side plates and extend to the front parts of the front side plates, sliding blocks are arranged on the guide rails in a sliding mode, the first positioning device is connected with the sliding blocks, and the first positioning device can position a nerve part to be stimulated and a muscle part to be punctured of a body;

the recording mechanism can record the electric signal of the recording part by using the recording electrode slice and transmit the signal to the control system;

the execution robot comprises a base, wherein a multi-axis mechanical arm is arranged on the base, an end effector is connected onto the multi-axis mechanical arm, a clamping device and a second positioning device are connected onto the end effector, and the clamping device can clamp a stimulator or a needle electrode;

the navigation robot can identify the positions of the first positioning device and the second positioning device and send information to the control system, and the control system can control the multi-axis mechanical arm to move so as to drive the clamping device to move to a to-be-stimulated nerve part positioned by the first positioning device, so that the stimulator stimulates the to-be-stimulated nerve part; the control system can control the multi-axis mechanical arm to move so as to drive the clamping device to move to the muscle part to be punctured positioned by the first positioning device, and the needle electrode performs puncture examination on the muscle part to be punctured.

Preferably, the recording mechanism is an elastic recording tape, the two rear side plates are both fixed with guide rails, the guide rails are provided with fixing buckles in a sliding manner, one fixing buckle on one guide rail and one fixing buckle on the other guide rail form a fixing unit, and the elastic recording tape is fixed on the two fixing buckles of the fixing unit;

the elastic recording belt is characterized in that a recording electrode plate is arranged on the inner side face of the elastic recording belt, a single chip microcomputer and a wireless communication module are arranged on the elastic recording belt, the recording electrode plate can detect electric signals of a recording part and transmit the signals to the single chip microcomputer, and the single chip microcomputer can transmit the signals to a control system through the wireless communication module.

Preferably, the recording mechanism comprises a first multi-axis mechanical arm, a recording electrode plate, a single chip microcomputer and a wireless communication module, the recording electrode plate, the single chip microcomputer and the wireless communication module are all arranged on the first multi-axis mechanical arm, the first multi-axis mechanical arm can drive the recording electrode plate to move to a recording position, the recording electrode plate can detect an electric signal of the recording position and transmit the signal to the single chip microcomputer, and the single chip microcomputer can transmit the signal to the control system through the wireless communication module.

Preferably, the end effector is provided with a multi-dimensional force sensor, and the multi-dimensional force sensor can detect the pressure applied to the contact between the stimulator and the skin of the human body or the pressure applied to the insertion of the needle electrode into the human body and transmit the information to the control system.

Preferably, the chest expander further comprises two first chest expanders and a second chest expander, wherein the two first chest expanders are respectively positioned on two sides of the two front side plates, inner ends of the two first chest expanders are positioned between the two front side plates, the inner ends of the first chest expanders are stress devices, and the inner ends of the first chest expanders can move left and right; the second chest expander is positioned on the front side plates, the rear end of the second chest expander is positioned between the two front side plates, and the rear end of the second chest expander is a stress device.

Preferably, the support table is provided with a first cylinder, the first cylinder is connected with the front substrate or the rear substrate, and the first cylinder can drive the front substrate or the rear substrate to move left and right.

Preferably, two second cylinders are arranged on the front base plate, the two second cylinders are respectively connected with the two front side plates, and the second cylinders can drive the front side plates to move left and right.

Preferably, two third cylinders are arranged on the rear base plate, the two third cylinders are respectively connected with the two rear side plates, and the third cylinders can drive the rear side plates to move left and right.

Preferably, the outer side surface of the elastic recording tape has an indication mark for assisting in determining a recording position, the indication mark corresponding to a position of the recording electrode sheet.

Preferably, the elastic recording tape is connected with a ground wire, and the ground wire can be contacted with the ground through an electrode clamp.

The invention has the beneficial effects that: the device can realize automatic examination when a doctor conducts nerve and muscle electrophysiological examination, solves the problems of complex operation process, low examination efficiency and consumption of time and energy of the doctor in the current nerve and muscle electrophysiological examination, improves the efficiency and the precision of examination results by using a robot to assist the examination, can automatically set examination items and examination sequences according to different symptom signs of patients, liberates the hands of the doctor and saves time;

under the navigation of the optical locator, the pressure feedback and the muscle sound feedback are combined, so that the precision and the success rate of the examination are greatly improved, the discomfort caused by repeated electrical stimulation and acupuncture on patients due to the proficiency and experience difference of different doctors during manual examination is avoided, the size of the contraction force of the muscle to be examined by the doctor is adjusted through the chest expander, the force imbalance caused by the antagonism of the muscle to be examined by the doctor manually is avoided, and the doctor can be mainly focused on the items and results of the examination;

in the muscle electrophysiological detection mode, the needle electrode can reach the optimal puncture position through the cooperation of the chest expander, the multidimensional force sensor and the control system, so that the detection effect is optimal.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the recording robot according to the present invention;

FIG. 3 is a schematic diagram of the overall structure of an execution robot and a navigation robot according to the present invention;

FIG. 4 is a bottom view of the elastic recording tape of the present invention;

FIG. 5 is a top view of the flexible recording tape of the present invention.

In the figure, 101-supporting table, 103-front base plate, 104-rear base plate, 105-front side plate, 106-rear side plate, 107-guide rail, 108-fixing buckle, 109-elastic recording tape, 110-recording electrode sheet, 111-reference electrode sheet, 112-slider, 113-first positioning device, 114-first tension device, 115-second tension device, 116-first cylinder, 117-second cylinder, 118-third cylinder, 201-base, 202-multi-axis mechanical arm, 203-end effector, 204-clamping device, 205-second positioning device, 206-multi-dimensional force sensor, and 301-navigation robot.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

Example 1

As shown in fig. 1 to 5, the present embodiment provides a neuromuscular electrophysiological examination robot, including a recording robot, an executing robot, a navigating robot, and a control system;

the recording robot comprises a positioning mechanism and a recording mechanism, the positioning mechanism comprises a support table 101, a base and a first positioning device 113, the base is arranged on the support table 101, the base comprises a front base plate 103, a rear base plate 104, two front side plates 105 and two rear side plates 106, the two front side plates 105 are distributed on the front base plate 103 along the left-right direction, the front side plates 105 can move left and right on the front base plate 103, the two rear side plates 106 are distributed on the rear base plate 104 along the left-right direction, the rear side plates 106 can move left and right on the rear base plate 104, guide rails 107 are fixed on the rear side plates 106, the guide rails 107 extend to the front parts of the front side plates 105, sliders 112 are arranged on the guide rails 107 in a sliding manner, the first positioning device 113 is connected with the sliders, the first positioning device 113 can position nerve parts to be stimulated and muscle parts to be punctured of a body, the guide rails 107 are not connected with the front side plates 105, and the hind limbs of arms and legs of a human body are thicker than the forelimbs, ensuring that the width of the stretch recording tape 109 is sufficient to cover the hind limbs of a human arm or leg;

the recording mechanism can record the electric signal of the recording part by using the recording electrode sheet 110 and transmit the signal to the control system;

the execution robot comprises a base 201, wherein a multi-axis mechanical arm 202 is arranged on the base 201, an end effector 203 is connected onto the multi-axis mechanical arm 202, a clamping device 204 and a second positioning device 205 are connected onto the end effector 203, and the clamping device 204 can clamp a stimulator or a needle electrode;

the navigation robot 301 can identify the positions of the first positioning device 113 and the second positioning device 205 and send information to the control system, and the control system can control the multi-axis mechanical arm 202 to move so as to drive the clamping device 204 to move to the position of the nerve to be stimulated, which is positioned by the first positioning device 113, so that the stimulator stimulates the position of the nerve to be stimulated; the control system can control the multi-axis mechanical arm 202 to move so as to drive the clamping device 204 to move to the muscle part to be punctured positioned by the first positioning device 113, so that the needle electrode performs puncture examination on the muscle part to be punctured.

The first recording mechanism is an elastic recording belt 109, guide rails 107 are fixed on two rear side plates 106, fixing buckles 108 are arranged on the guide rails 107 in a sliding mode, one fixing buckle 108 on one guide rail 107 and one fixing buckle on the other guide rail 107 form a fixing unit, and the elastic recording belt 109 is fixed on the two fixing buckles 108 of the fixing unit;

the inner side surface of the elastic recording belt 109 is provided with a recording electrode sheet 110, the elastic recording belt 109 is provided with a single chip microcomputer and a wireless communication module, the recording electrode sheet 110 can detect electric signals of a recording part and transmit the signals to the single chip microcomputer, and the single chip microcomputer can transmit the signals to a control system through the wireless communication module.

The second recording mechanism comprises a first multi-axis mechanical arm, a recording electrode slice 110, a single chip microcomputer and a wireless communication module, wherein the recording electrode slice 110, the single chip microcomputer and the wireless communication module are all arranged on the first multi-axis mechanical arm, the first multi-axis mechanical arm can drive the recording electrode slice 110 to move to a recording position, the recording electrode slice 110 can detect an electric signal of the recording position and transmit the signal to the single chip microcomputer, and the single chip microcomputer can transmit the signal to a control system through the wireless communication module.

The first is selected in this embodiment, which is less costly, and the following embodiments are detailed in the first.

The multi-axis robot arm 202 may have six or seven axes, and in this embodiment, the guide rail 107 is not fixed to the front plate 105, and the front plate 105 and the rear plate 106 can move independently.

The support table 101 and the base 201 in this embodiment may be movable tables or the like.

Specifically, the navigation robot 301, the first positioning device 113 and the second positioning device 205 form an optical positioning system, and an optical positioning instrument is arranged on the navigation robot, and is a CCD camera and can send and receive infrared rays; the first positioning device 113 and the second positioning device 205 comprise positioning rigid bodies, positioning beads are arranged on the positioning rigid bodies, the positioning rigid bodies can be in various forms, such as cross shapes, corresponding structural information is stored in the control system, the positioning beads can reflect infrared rays, so that the navigation robot can identify the positions of the first positioning device 113 and the second positioning device 205, the first positioning device 113 can move on the guide rail 107 to position a nerve part to be stimulated and a muscle part to be punctured, so that the navigation robot 301 can obtain the actual position of the recorded part, the second positioning device 205 is arranged on the clamping device 204, so that the navigation robot 301 can obtain the actual position of the clamping device 204, so that the control system can control the multi-axis mechanical arm 202 to move to drive the clamping device 204 to move to the position of the nerve part to be stimulated or the muscle part to be punctured positioned by the first positioning device 113, the stimulator stimulates the nerve part to be stimulated or the needle electrode punctures the muscle part to be punctured.

The specific working principle is that the palm or the sole is placed on the front base plate 103, the arm or the leg is placed on the rear base plate 104, and the positions of the front side plate 105 and the rear side plate 106 are adjusted to clamp and fix. Then the position of the elastic recording tape 109 is adjusted, the elastic recording tape 109 is moved to a recording position, the recording electrode sheet 110 is enabled to be tightly attached to the recording position, then the first positioning device 113 is moved to a nerve position to be stimulated or a muscle position to be punctured and positioned, the navigation robot 301 is used for identifying the real-time positions of the first positioning device 113 and the second positioning device 205 at the moment, the clamping device 204 clamps the stimulator or the needle electrode, the control system controls the multi-axis mechanical arm 202 to move, the stimulator or the needle electrode is enabled to reach the specified position to stimulate the nerve position to be stimulated or puncture the muscle position to be punctured, then the recording electrode sheet 110 records information at the recording position and transmits the information to the control system, and the control system displays the information on the display. Like this doctor can realize automatic inspection when carrying out nerve and muscle electrophysiological examination, solved present when nerve and muscle electrophysiological examination, operation process is loaded down with trivial details, and inspection efficiency is low, consumes the problem of doctor's time and energy, uses the supplementary inspection of robot for efficiency improves, and the inspection result precision improves, can also set up the project and the inspection order of inspection automatically according to the different symptom sign of patient, liberated doctor's both hands, practiced thrift the time.

In the neuroelectrophysiology examination mode, according to a nerve to be detected, the elastic recording tape 109 is moved to the nerve recording part and is fixed by the elastic recording tape 109, so that the recording electrode sheet 110 is tightly attached to the recording part, here, the position of the recording electrode sheet 110 is determined in an auxiliary mode according to an indication mark on the outer side surface of the elastic recording tape 109, the navigation robot 301 identifies the real-time positions of the first positioning device 113 and the second positioning device 205, path planning is well done, a control system can perform path simulation after the planning is completed, the examination accuracy is guaranteed, and the control system controls the multi-axis mechanical arm 202 to move according to the path until the stimulator moves to the nerve part to be stimulated to stimulate the nerve part.

In the present embodiment, the reference electrode sheet 111 is provided on the elastic recording tape 109, and for example, the medial and ulnar nerves of the upper limb nerve need to be detected. The detection point of the median nerve is positioned at the abdomen of the abductor muscle of the palmar hallux brevis (the middle point of the thenar), the detection content is the discharge magnitude of the median nerve, the discharge magnitude is detected and recorded by adopting the recording electrode slice 110, the reference electrode slice 111 has the function of distinguishing the discharge magnitude from other peripheral mixed factors, and the reference electrode slice 111 is placed near the recording electrode slice 110 and is probably positioned at the junction of the thumb and the thenar. The corresponding ulnar nerve is located at the mid-hypothenar point. At present, the conventional examination is to record the median nerve and the ulnar nerve respectively, the recording electrode plate 110 and the reference electrode plate 111 are attached to the corresponding recording positions one by one, the operation is complex, the elastic recording belt 109 is used in the technical scheme, the elastic recording belt 109 has elasticity, and the recording electrode plate 110 can be attached to the recording positions of the two nerves at one time, so that the detection efficiency is further improved.

In the muscle electrophysiological examination mode, the first positioning device 113 is moved to a muscle part of the muscle to be punctured, the stimulator is replaced by a needle electrode for puncturing, the navigation robot 301 identifies the real-time positions of the first positioning device 113 and the second positioning device 205, the control system performs path planning, and the control system adjusts the needle insertion position and the needle insertion direction of the needle electrode, so that the needle point of the needle electrode is aligned to the nerve part to be stimulated at a proper angle.

In this embodiment, the end effector 203 is provided with a multi-dimensional force sensor 206, and the multi-dimensional force sensor 206 can detect the pressure applied by the contact between the stimulator and the skin surface of the human body or the pressure applied by the insertion of the needle electrode into the human body and transmit the information to the control system.

The chest expander further comprises two first chest expanders 114 and a second chest expander 115, wherein the two first chest expanders 114 are respectively positioned on two sides of the two front side plates 105, the inner ends of the two first chest expanders 114 are positioned between the two front side plates 105, the inner end of the first chest expander 114 is a stress device, and the inner end of the first chest expander 114 can move left and right; the second chest developer 115 is located on the front side plates 105, the rear end of the second chest developer 115 is located between the two front side plates 105, and the rear end of the second chest developer 115 is a force-bearing device. The stress device can be an extrusion plate, an elastic ring, a pulling plate and the like, and is selected according to actual needs.

The multidimensional force sensor 206 is arranged on the end effector 203, and in the neuroelectrophysiological detection mode, the multidimensional force sensor 206 can detect the pressure applied when the stimulator is in contact with the limb and feed the pressure back to the control system;

in the checking mode of muscle electrophysiology, the multidimensional force sensor checks the change of the puncture force of the needle electrode in the puncture process, judges whether the needle electrode punctures the skin or not, the needle electrode enters muscle tissue after puncturing the skin and the adipose tissue, the muscle to be detected is activated by leading the specific limb to resist different pulling forces in the chest expander, the muscle to be detected is actively tensed, and meanwhile, muscle sound detection is carried out, so that whether the muscle to be detected reaches the abdomen or not is judged. When the muscle tone is strongest, it indicates that the needle electrode has reached the puncture site, and at this time, a muscle electrophysiological examination is performed.

For example, the inner end of the first chest expander 114 is a pressing plate or a pulling plate, and the rear end of the second chest expander 115 is an elastic ring, so that the thumb can be extended to resist the first chest expander 114 on the same side when the abductor hallucis brevis is detected in the muscle electrophysiology detection mode. Correspondingly, when the little finger abductor is detected, the little finger is forced to abduct to resist the first chest expander 114 on the same side as the little finger. When detecting the tibialis anterior, the elastic loop at the rear end of the second chest-developer 115 is sleeved on the instep, and the instep is tilted upward to resist the second chest-developer 115, so as to contract the corresponding muscle.

The chest expander can adjust the self tension, can reduce the resistance of the chest expander when detecting the physiological function of the muscle in the light contraction state, and increase the resistance when detecting the physiological function of the muscle in the heavy contraction state.

Under the navigation of optical locator, combine pressure feedback or flesh sound feedback, improve the accuracy and the success rate of inspection greatly, because different doctors' proficiency and experience difference when having avoided artifical inspection, relapse to patient carry out the discomfort that electrostimulation and acupuncture brought, adjust the size of self muscle contraction strength of waiting to examine through the chest expander, avoid the doctor to treat the muscle that detects by the manual work and carry out the antagonism, the strength that brings is unbalanced, also can make the doctor mainly concentrate on the project and the result that detect. Therefore, in the muscle electrophysiological detection mode, the needle electrode can reach the optimal puncture position through the cooperation of the chest expander, the multidimensional force sensor and the control system, so that the detection effect is optimal.

In the technical scheme, when the nerve and muscle electrophysiology examination is carried out, the examination is carried out by a computer and a robot, different parts of each nerve and muscle are fully automatically examined, so that the doctor group for carrying out the examination is enlarged, doctors in other clinical departments (such as orthopedics department, endocrinology department, nephrology department, oncology department, neurosurgery department, obstetrics and gynecology department and the like) are convenient to carry out the examination besides traditional special neurology doctors, and the threshold for using the nerve and muscle electrophysiology examination is reduced.

In this embodiment, the supporting table 101 is provided with a first cylinder 116, the first cylinder 116 is connected to the front substrate 103 or the rear substrate 104, and the first cylinder 116 can drive the front substrate 103 or the rear substrate 104 to move left and right. The distance between the front substrate 103 and the rear substrate 104 is adjusted, and the device is suitable for people of different heights.

In this embodiment, the front substrate 103 is provided with two second cylinders 117, the two second cylinders 117 are respectively connected with the two front side plates 105, and the second cylinders 117 can drive the front side plates 105 to move left and right.

In this embodiment, the rear substrate 104 is provided with two third cylinders 118, the two third cylinders 118 are respectively connected to the two rear side plates 106, and the third cylinders 118 can drive the rear side plates 106 to move left and right. Thereby effecting movement of the front and rear side plates 105 and 106.

In this embodiment, the top wall of the elastic recording tape 109 has an indication mark for assisting in determining a recording position, the indication mark corresponds to the position of the recording electrode sheet 110, and the indication mark is used for assisting a doctor in attaching the recording electrode sheet 110 to the recording position.

In this embodiment, the elastic recording tape 109 is connected to a ground wire, and the ground wire can contact the ground through an electrode clamp. The ground wire functions to ground the patient's limb and thereby eliminate interference.

The diapire of elasticity record tape 109 is provided with the thumb fixed orifices in this embodiment, and elasticity record tape 109 one end is fixed on a fixed knot, and the other end passes another fixed knot and turns over the back and paste the fastening upwards, and elasticity record tape 109 can adjust length like this, and when elasticity record tape 109 need be bound at the palm, the thumb can pass the thumb fixed orifices and fix a position the back, twines elasticity record tape 109 on the palm.

In this embodiment, the fixing buckle and the slider have corresponding limiting devices, and the limiting devices can be fixed when adjusted to corresponding positions, so as to prevent the positions of the first positioning device 112 and the elastic recording tape 109 from being changed.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.