Delicate Operation of a Microneedle-Forceps Mechanism for Ultra-Flexible Probe Implantation

The implantation of ultra-flexible neural probes is one of the key technical challenges in the field of brain-computer interfaces. Existing implantation techniques are constrained in both the overall surgical procedure and operational reliability. This study introduces a novel microneedle-forceps mechanism designed to implant ultra-flexible probes individually into brain tissue. A multimode motion control framework based on multiple linear actuators and a hybrid PID controller is developed for delicate manipulation of the probes. A needle-probe interaction model is established for force analysis in the peeling and insertion process. Detailed experiments are conducted to demonstrate the clamping ability of forceps to promote probe peeling and reduce needle deflection. Moreover, cooperative pull-up, insertion, release and retraction by the microneedle-forceps are validated to achieve multiple probe implantations within a single insertion duration of 10 s and a density of 0.2 mm.