Electrical stimulation control protection device for turtle robot and use method

Abstract

The invention relates to the field of biological robots and neural engineering, and discloses an electrical stimulation control protection device for a turtle robot, which comprises a neck biocompatibility limiter, the neck biocompatibility limiter is of a sleeve structure and is composed of a rigid clamping part and a flexible limiting disc, the neck of the turtle robot penetrates through the rigid clamping part and the flexible limiting disc, and the flexible limiting disc is connected with the neck of the turtle robot. The flexible limiting disc abuts against the tortoise shell of the tortoise robot, the rigid clamping part abuts against the skull of the tortoise robot, the rigid clamping part limits head retraction of the tortoise robot, and the flexible limiting disc is used for ensuring the freedom degree of the tortoise robot in other directions. The mechanical protection, sealing performance and diversion performance of the waterproof sealing electrical stimulation sleeve module ensure the position stability of the electrode under long-term violent activity and water flow impact.

Description

Technical Field

[0001] This invention relates to the fields of biorobotics and neural engineering, and in particular to an electrical stimulation control and protection device for turtle robots and its method of use. Background Technology

[0002] Treating living organisms as "robots" capable of performing specific tasks—that is, biorobots—is a cutting-edge field at the intersection of robotics, neuroscience, and bioengineering. By precisely applying electrical stimulation to specific nerve or muscle tissues of an organism, it is possible to induce or control it to exhibit predetermined behaviors, such as moving forward, turning left, or turning right. This technology shows enormous application potential in fields such as environmental monitoring, underwater exploration, disaster search and rescue, and national defense.

[0003] Turtles, as animals with strong vitality, long endurance, and adaptability to both aquatic and terrestrial environments, are ideal carriers for building underwater bio-robots. However, applying electrostimulation technology to turtles faces two core technological challenges: First, there's the conflict between stability and animal instinct: Turtles' most prominent defense mechanism is their ability to quickly retract their heads and limbs into their hard shells when disturbed. This instinctive reaction places extremely high demands on electrode fixation. Damage or displacement of electrodes caused by head retraction can lead to severe shifts in stimulation sites, current dispersion, control failure, and even irreversible damage to the brain tissue. Current electrode fixation methods, such as using tape or straps to secure flexible electrodes, often fail to effectively suppress the enormous impact of the turtle's head retraction instinct.

[0004] Secondly, there is the issue of the adaptability of the stimulation electrode to the underwater environment: electrical stimulation experiments require the establishment of a stable, low-impedance electrical pathway between the electrode and biological tissue. In the underwater environment, ordinary water acts as a conductor. If the connection between the stimulation electrode and the connecting wire is poorly sealed, the interface will be exposed to water, causing a short circuit and leading to instability of the control model. This not only wastes stimulation energy and reduces control precision, but the leaked current may also indiscriminately stimulate other parts of the turtle's body, triggering unpredictable stress behaviors. Existing common electrode waterproofing methods typically only seal a small area of ​​the electrode implantation site with bone cement, but this can lead to bone cement seeping into the craniotomy wound, causing infection in the animal. Therefore, the electrode itself and its electrical connection components must achieve a highly reliable, long-term, and bio-friendly waterproof seal.

[0005] In summary, there is currently no integrated solution in the field of electrical stimulation research for turtle biorobots that can simultaneously solve the two core technical challenges of "anti-retracting head and stable fixation" and "bio-friendly waterproofing". Summary of the Invention

[0006] The main objective of this invention is to resolve the contradiction between stability and animal instinct in existing technologies, as well as the stringent electrical requirements of underwater environments. An electrical stimulation control and protection device for a turtle robot includes a neck biocompatible limiter, which is a sleeve structure composed of a rigid clamping part and a flexible limiting plate. The turtle robot's neck passes through the rigid clamping part and the flexible limiting plate. The flexible limiting plate abuts against the turtle robot's shell, while the rigid clamping part abuts against the turtle robot's skull. The rigid clamping part restricts the turtle robot from retracting its head, and the flexible limiting plate ensures the turtle robot's other degrees of freedom.

[0007] The opening area of ​​the neck biocompatibility limiter is adjusted by the limit screw 3a.

[0008] The inner wall of the neck biocompatible limiter is smooth and rounded.

[0009] The flexible limiting plate is made of TPU.

[0010] The electrical stimulation control and protection device also includes a waterproof and sealed electrical stimulation module, which includes an electrical stimulation connector 1b, an upper edge of a sleeve 2b, a lower edge of a sleeve 6b, a sealing ring groove 5b, a lower edge of a sleeve 6b, and a stimulation electrode 7b. The electrical stimulation connector 1b is provided with multiple electrode interfaces 8b; the electrical stimulation connector 1b is fixedly installed on the upper edge 2b of the sleeve, and the lower edge 6b of the sleeve is fixedly connected to the sealing ring groove 5b; the stimulation electrode 7b is installed inside the sleeve and connected to the electrode interface 8b.

[0011] The sleeve wall 3b is provided with multiple water guide grooves 4b.

[0012] A sealing ring is provided in the sealing ring groove 5b, and the sealing ring contacts and fixes the turtle's head.

[0013] A second aspect of the present invention provides a method of using an electrical stimulation control and protection device for a turtle robot, comprising: S1: Prepare and sterilize the device, connect the electrical stimulation connector to the stimulator, and test the electrode pathway; S2: Induce anesthesia and stabilize the turtle robot, and monitor vital signs; S3: Install the neck biocompatibility limiter, adjust its position, and lock it; S4: Place the turtle in a brain positioning device to determine the origin of the skull; S5: Assemble the waterproof and sealed electrical stimulation module, implant it into a specific location in the turtle's brain, fill it with conductive gel, and fix it in place; S6: Place the turtles in a pool and conduct an electrical stimulation experiment to monitor their behavior; S7: After the experiment, disassemble the device and clean it.

[0014] In step S3, the installation of the neck biocompatibility limiter includes slipping the limiter onto the turtle's neck side, adjusting its position so that the silicone pad fits the neck muscle area, and locking it with screws.

[0015] In step S5, the implantation of the electrical stimulation electrode includes making a hole in the turtle skull, implanting the electrode in a specific location, and fixing the sleeve module with bone cement.

[0016] In step S6, the electrical stimulation experiment includes releasing currents of different frequencies and amplitudes into the electrical stimulation module and observing the movement behavior of the turtles.

[0017] The present invention has the following beneficial effects: This invention effectively overcomes the turtle's strong retraction instinct through a dual structural design of "rigid clamping and locking + flexible auxiliary buffer".

[0018] The waterproof, sealed electrical stimulation sleeve module of this invention ensures the positional stability of the electrodes under prolonged intense activity and water flow impact through its mechanical protection, sealing performance, and conductivity. Simultaneously, the internal filling of the conductive gel significantly reduces the infection rate of biological wounds, guaranteeing excellent waterproof performance and electrical safety. Considering biocompatibility and animal welfare, the device is made of medical-grade materials.

[0019] The structural design of this invention fully considers the anatomical characteristics of turtles. The smooth inner wall and optimized clamping force prevent physical damage. The strapless design minimizes restrictions on the animal. Compared to traditional methods, it significantly reduces animal stress levels and better meets the ethical requirements of modern animal experiments. Attached Figure Description

[0020] Figure 1 Schematic diagram of a neck biocompatible restraint device; Figure 2 A schematic diagram of a waterproof, sealed electrical stimulation sleeve; Figure 3 A schematic diagram from another perspective of a waterproof, sealed electrical stimulation sleeve; Figure 4 Diagram showing the installation process for turtles; The attached figures are labeled as follows: The components include: rigid clamping part 1a, silicone pad 2a, M2 plastic screw (limiting) 3a, flexible limiting plate 4a, M2 plastic screw (assembly) 5a, connecting part between rigid clamping and flexible auxiliary part 6a, flexible auxiliary part 7a, electrical stimulation connector part 1b, upper edge of sleeve 2b, sleeve wall 3b, water guide groove 4b, sealing ring groove 5b, lower edge of sleeve 6b, stimulation electrode 7b, and electrode interface 8b. Detailed Implementation

[0021] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 The first embodiment of the electrical stimulation control and protection device for turtle robots in this invention includes: The neck biocompatibility limiter is a sleeve structure consisting of a rigid clamping part and a flexible limiting plate. The neck of the turtle robot passes through the rigid clamping part and the flexible limiting plate. The flexible limiting plate abuts against the turtle robot's shell, while the rigid clamping part abuts against the turtle robot's skull. The rigid clamping part restricts the turtle robot from retracting its head, and the flexible limiting plate ensures the turtle robot's other degrees of freedom.

[0023] The opening area of ​​the neck biocompatibility limiter is adjusted by the limiting screw 3a. The inner wall of the neck biocompatibility limiter is smooth and rounded. The flexible limiting plate is made of TPU.

[0024] The electrical stimulation control and protection device further includes a waterproof and sealed electrical stimulation module. This module comprises an electrical stimulation connector portion 1b, an upper edge of a sleeve 2b, a lower edge of a sleeve 6b, a sealing ring groove 5b, and a stimulation electrode 7b. The electrical stimulation connector portion 1b is provided with multiple electrode interfaces 8b. The electrical stimulation connector portion 1b is fixedly mounted on the upper edge of the sleeve 2b, and the lower edge of the sleeve 6b is fixedly connected to the sealing ring groove 5b. The stimulation electrode 7b is disposed inside the sleeve and connected to the electrode interfaces 8b. Multiple water-guiding grooves 4b are provided on the sleeve wall surface 3b. A sealing ring is provided in the sealing ring groove 5b, and the sealing ring contacts and fixes to the turtle's head.

[0025] Specifically, please refer to Figures 1 to 4 This embodiment provides an integrated device for electrically stimulating the bilateral neck muscles of an adult red-eared slider (Trachemysscripta elegans, carapace length approximately 15–20 cm) to control its turning behavior.

[0026] Detailed description of the device structure: Neck Biocompatibility Restrictor: An open-type ring-shaped main body designed based on the anatomical characteristics of a turtle's neck. The restrictor consists of two parts: the front end, composed of a rigid clamping outer wall and a silicone inner wall, is fixed to the widest part of the skull; the rear end is made of a flexible material (TPU), ensuring that the turtle cannot retract its head to a minimum, while allowing unrestricted freedom of movement in other directions. The upper and lower openings of the restrictor switch are connected with M2 plastic screws, ensuring both lightweight construction and structural stability. The screw tightness can be finely adjusted according to the circumferential size, providing a secure lock and adapting to differences in neck circumference among individuals, thus providing a continuous and stable locking force. The inner wall of the sleeve is smooth and rounded to prevent scratching the animal's skin.

[0027] Waterproof Sealed Electrical Stimulation Sleeve Module: This component is used in conjunction with electrical stimulation electrodes. It is packaged as a single unit within a conical casing. The upper end is connected to the electrical stimulation electrodes via bone cement, while the lower end is fitted with a sealing ring that contacts the turtle's head and is secured with bone cement. The inside of the sleeve is filled with conductive gel to reduce the impact of electrode fixation on the turtle. Additionally, the sleeve wall is designed with four independent drainage channels for rapid drainage, preventing water accumulation around the sleeve.

[0028] The above describes the electrical stimulation control and protection device for turtle robots in the embodiments of the present invention. The following describes the method of using the electrical stimulation control and protection device for turtle robots in the embodiments of the present invention: S1: Prepare and sterilize the device, connect the electrical stimulation connector to the stimulator, and test the electrode pathway; S2: Induce anesthesia and stabilize the turtle robot, and monitor vital signs; S3: Install the neck biocompatibility limiter, adjust its position, and lock it; S4: Place the turtle in a brain positioning device to determine the origin of the skull; S5: Assemble the waterproof and sealed electrical stimulation module, implant it into a specific location in the turtle's brain, fill it with conductive gel, and fix it in place; S6: Place the turtles in a pool and conduct an electrical stimulation experiment to monitor their behavior; S7: After the experiment, disassemble the device and clean it.

[0029] In step S3, the installation of the neck biocompatibility limiter includes slipping the limiter onto the turtle's neck side, adjusting its position so that the silicone pad fits the neck muscle area, and locking it with screws.

[0030] In step S5, the implantation of the electrical stimulation electrode includes making a hole in the turtle skull, implanting the electrode in a specific location, and fixing the sleeve module with bone cement.

[0031] In step S6, the electrical stimulation experiment includes releasing currents of different frequencies and amplitudes into the electrical stimulation module and observing the movement behavior of the turtles.

[0032] Specific application methods and experimental procedures: S1 (Preparation): Sterilize the device with 75% alcohol. Connect the electrical stimulation connector to the Plexon multichannel programmable constant current stimulator. Test all 16 channels using software to confirm the electrode paths are functioning correctly.

[0033] S2 (Induction Stabilization): A healthy red-eared slider weighing approximately 3 kg was placed on the operating table, and anesthesia was induced by injecting 0.05 ml / kg of Sutate 50 reagent into its forelimbs. After induction anesthesia, the turtle was intubated and ventilated using a ventilator. Once the turtle's condition was observed to be stable, it was placed on a heating blanket to maintain its body temperature, and its heart rate was monitored using a Doppler heart rate monitor.

[0034] S3 (Installation and Locking): Hold the biocompatible neck restraint with your right hand and insert it from the right side of the turtle's neck. Adjust its position so that the silicone material on both sides adheres to the trapezius muscle area on both sides of the turtle's neck, ensuring that the flexible neck restraint plate firmly clamps the turtle's shell. Then, use M2 plastic screws to first fix the rigid clamp. Then, immediately connect and lock the subsequent flexible components. Gently pull down the sleeve, ensuring that it cannot be opened again and there is no obvious wobbling. Installation is complete. Figure 4 As shown.

[0035] S4 (Turtle Brain Positioning): Lift the red-eared slider turtle already fitted with the device and place it in the turtle brain positioning device, ensuring the earpiece is firmly against the middle ear. Determine the origin point of the red-eared slider's skull.

[0036] S5 (Electrode Implantation and Encapsulation): A waterproof, sealed electrical stimulation sleeve module is combined with a Plexon electrode, and the connection point is sealed with bone cement. Then, a precise opening is made in the red-eared slider's skull using a bone drill. The assembled Plexon electrode is implanted into a specific location in the brain, and bioconductive gel is injected into the sleeve. Finally, a sealing ring is fixed to the skull, and the connection between the sleeve and the skull is secured with bone cement.

[0037] S6 (Electrical Stimulation Experiment): Red-eared sliders were placed in a 2m x 2m pool and allowed to swim freely for 5 minutes to acclimatize. Currents of different frequencies and amplitudes were released into the electrical stimulation module via a stimulator, and the movement of the red-eared sliders was monitored.

[0038] S7 (Disassembly): After the experiment, remove the red-eared slider turtle. Then, remove the device from the turtle's neck. Observe the skin on the turtle's neck; no redness or dents were found. After cleaning, it can be used for the next experiment.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electrical stimulation control and protection device for turtle robots, characterized in that, The device includes a neck biocompatibility limiter, which is a sleeve structure consisting of a rigid clamping part and a flexible limiting plate. The neck of the turtle robot passes through the rigid clamping part and the flexible limiting plate. The flexible limiting plate abuts against the turtle robot's shell, and the rigid clamping part abuts against the turtle robot's skull. The rigid clamping part restricts the turtle robot from retracting its head, and the flexible limiting plate is used to ensure the turtle robot's other degrees of freedom.

2. The electrical stimulation control and protection device for turtle robots according to claim 1, characterized in that, The opening area of ​​the neck biocompatibility limiter is adjusted by the limit screw 3a.

3. The electrical stimulation control and protection device for turtle robots according to claim 1, characterized in that, The inner wall of the neck biocompatible limiter is smooth and rounded.

4. The electrical stimulation control and protection device for turtle robots according to claim 1, characterized in that, The electrical stimulation control and protection device also includes a waterproof and sealed electrical stimulation module, which includes an electrical stimulation connector, an upper edge of a sleeve, a lower edge of a sleeve, a sealing ring groove, a lower edge of a sleeve, and a stimulation electrode.

5. The electrical stimulation control and protection device for a turtle robot according to claim 4, characterized in that, The electrical stimulation connector is provided with multiple electrode interfaces; the electrical stimulation connector is fixedly installed on the upper edge of the sleeve, and the lower edge of the sleeve is fixedly connected to the sealing ring groove; the stimulation electrode is installed inside the sleeve and connected to the electrode interface.

6. The electrical stimulation control and protection device for a turtle robot according to claim 5, characterized in that, The sleeve wall is provided with multiple water guide grooves.

7. The electrical stimulation control and protection device for a turtle robot according to claim 6, characterized in that, The sealing ring groove is provided with a sealing ring, which contacts and fixes the turtle's head.

8. A method of using an electrical stimulation control and protection device for turtle robots, characterized in that, The method includes: S1: Prepare and sterilize the device, connect the electrical stimulation connector to the stimulator, and test the electrode pathway; S2: Induce anesthesia and stabilize the turtle robot, and monitor vital signs; S3: Install the neck biocompatibility limiter, adjust its position, and lock it; S4: Place the turtle in a brain positioning device to determine the origin of the skull; S5: Assemble the waterproof and sealed electrical stimulation module, implant it into a specific location in the turtle's brain, fill it with conductive gel, and fix it in place; S6: Place the turtles in a pool and conduct an electrical stimulation experiment to monitor their behavior; S7: After the experiment, disassemble the device and clean it.

9. The method of using the electrical stimulation control and protection device for turtle robots according to claim 8, characterized in that, In step S3, the installation of the neck biocompatibility limiter includes slipping the limiter onto the turtle's neck side, adjusting its position so that the silicone pad fits the neck muscle area, and locking it with screws.

10. The method of using an electrical stimulation control and protection device for a turtle robot according to claim 8, wherein in step S5, the implantation of the electrical stimulation electrode includes making a hole in the turtle skull, implanting the electrode in a specific location, and fixing the sleeve module with bone cement.

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