An experimental animal housing system and method

Abstract

The present application relates to an experimental animal positioning system and method, which comprises: an operable positioning mechanism, including a bearing part bearing the torso of an experimental mouse and a fixing part adjustably bearing the limbs of the experimental mouse, wherein the fixing part has a first identification part; a movable clamping mechanism for positioning the experimental mouse to the positioning mechanism and having a second identification part; an identification unit for forming a modulation instruction for controlling the fixing part according to the spatial position information of the first and second identification parts; and a driver assembly connected to the bearing part and adjustably mechanically coupled to the fixing part, capable of adjusting the spatial position of the fixing part in response to the modulation instruction. The present application provides an experimental animal positioning system, which guides the movement of the fixing part to the desired position through the specific identification segment of the clamping mechanism, and the adjustment process does not require disassembly of the fixing part, avoiding contact with the experimental animal, saving the time of body position adjustment, and ensuring the safety of the experimental personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of animal experiment equipment, and in particular to an experimental animal placement system and method. BACKGROUND

[0002] Animal experiments are one of the most important research methods in the field of medical research, and provide a basis for the safe conduct of clinical experiments. Mice are the most important mammalian experimental carriers, but there are huge safety hazards in animal experiments conducted in laboratories today. Due to the lack of anti-mouse bite injury experimental equipment, mouse animal experiments are carried out by experimenters directly injecting drugs, executing by neck, etc., which poses a great risk of being bitten. As we all know, the living environment of mice is harsh, and they can carry more than 200 pathogenic bacteria, of which 57 can cause diseases in humans. After being bitten by a mouse, one needs to go to the hospital immediately for vaccine injection, which seriously threatens the health of scientific researchers.

[0003] CN215503545U discloses a lifting type animal experiment table for zoology experiments, comprising a bottom plate, further comprising: an adjusting mechanism arranged on the top of the bottom plate, the adjusting mechanism comprising a first adjusting assembly and a second adjusting assembly, a support block is fixedly connected to the bottom of the operating table, the support block cooperates with the second adjusting assembly, a connecting block is fixedly connected to the bottom of the operating table, a limiting groove is formed in the connecting block, and the limiting groove cooperates with the first adjusting assembly; a barrier cover is hinged to the top of the operating table, and the barrier cover is connected with an air supply filter.

[0004] CN113875618A discloses a mouse experiment device, comprising a supporting mechanism, an animal processing mechanism and an auxiliary mechanism; the animal processing mechanism comprises an animal cavity, an animal cavity wall and an animal cavity cap; the auxiliary mechanism comprises a funnel head, a mouse tail clamp and a mouse neck clamp; the animal cavity is inclinedly arranged on the supporting mechanism, the animal cavity wall head is provided with a strip-shaped bayonet, the animal cavity tail is provided with a mouse tail hole, the animal cavity wall is provided with a cross-shaped opening, and the animal cavity wall bottom is provided with a sliding opening and closing experiment window; the animal cavity cap is detachably arranged on the animal cavity wall head; the funnel head is lockingly connected with the animal cavity head, the funnel column is detachably connected with the animal cavity wall, and the funnel head side has a mouse tail guide opening; the mouse tail clamp is installed on the supporting mechanism; the mouse neck clamp passes through the mouse neck clamp opening.

[0005] In the common mouse fixing method, the limbs usually need to be fixed, and in the process, the fixing of each limb usually needs to be manually performed, and due to the small size of the mouse limbs, manual fixing has great operation difficulty, which increases the operation time of the experimenter, and also increases the risk of being misinjured during operation; and for the test, there are cases where the mouse needs to be fixed in different postures, such as limbs parallelly spread, or limbs obliquely stretched, or limbs randomly spread, different fixed postures can provide different operation fields of view for the experimenter, which helps to improve the fluency and accuracy of the operation method during the test process, and significantly improves the test efficiency, but the existing test mouse fixing scheme does not exist a technical scheme that can automatically adjust the fixed posture according to the needs, and the prior art not only needs to fix the mouse by manual operation in the first fixing process, and needs to manually disassemble the mouse if the posture needs to be adjusted during the test.

[0006] In addition, on the one hand, there are differences in the understanding of those skilled in the art; on the other hand, the applicant has studied a large number of literatures and patents when making the present application, but due to the limited space, all the details and contents are not listed in detail, but this does not mean that the present application does not have these prior art characteristics, on the contrary, the present application has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art in the background art. SUMMARY

[0007] In view of the deficiencies of the prior art, the present application provides an experimental animal placement system and method, which aims to solve at least one or more technical problems existing in the prior art.

[0008] To achieve the above-mentioned purpose, the present application provides an experimental animal placement system, comprising:

[0009] The operable placement mechanism comprises a bearing part bearing the torso of the experimental mouse and a fixing part adjustably bearing the limbs of the experimental mouse, wherein the fixing part has a first identification part;

[0010] The movable clamping mechanism is used to place the experimental mouse to the placement mechanism, and has a second identification part;

[0011] The identification unit is used to form a modulation instruction for controlling the fixing part according to the spatial position information of the first identification part and the second identification part;

[0012] The driver assembly is connected to the bearing part and is adjustably mechanically coupled to the fixing part, and can adjust the spatial position of the fixing part in response to the modulation instruction.

[0013] Preferably, the fixing part comprises a plurality of fixing units corresponding to the limbs of the experimental mouse, the fixing units are adjustably attached and fixed to the limbs of the experimental mouse, and are connected with the driver assembly.

[0014] Preferably, the recognition unit forms the modulation instruction for controlling the fixing unit according to the spatial position information of the first recognition unit and the second recognition unit, which comprises:

[0015] determining the action parameter of the driver assembly based on the spatial position information of the first recognition unit and the second recognition unit;

[0016] determining the modulation current inputted to the driver assembly based on the action parameter;

[0017] the driver assembly acts based on the modulation current to adjust the fixing unit to the target position.

[0018] Preferably, the determining the action parameter of the driver assembly based on the spatial position information of the first recognition unit and the second recognition unit comprises:

[0019] introducing the spatial position information of the clamping mechanism with the second recognition unit into a pre-established relationship model;

[0020] outputting the expected action parameter of the driver assembly through the relationship model.

[0021] Preferably, the speed of the driver assembly adjusting the spatial position of the corresponding fixing unit is performed in association with the distance between the target position of the clamping mechanism and the actual position of the fixing unit.

[0022] Preferably, the recognition unit acquires the spatial position information of the positioning mechanism and the clamping mechanism based on the sensing of the preset light signal by the first recognition unit and the second recognition unit.

[0023] Preferably, the driver assembly comprises:

[0024] a plurality of first drivers adjustably attached to the bearing unit and used to control the movement of the fixing unit along a first direction;

[0025] a second driver adjustably attached to the first driver and used to control the movement of the fixing unit along a second direction;

[0026] a third driver adjustably attached to the second driver and connected to the fixing unit, used to control the movement of the fixing unit along a third direction.

[0027] Preferably, before the recognition unit forms the modulation instruction for controlling the fixing unit according to the spatial position information of the first recognition unit and the second recognition unit, it further comprises determining whether the spatial position of the clamping mechanism is within a preset adjustable range.

[0028] Preferably, the present application further relates to an experimental animal positioning method, which can comprise the following steps:

[0029] providing a movable clamping mechanism with a second recognition unit;

[0030] The experimental mouse is placed in the operable placement mechanism by the clamping mechanism, wherein the placement mechanism comprises a bearing part bearing the torso of the experimental mouse and a fixing part adjustably bearing the limbs of the experimental mouse, and the fixing part has a first identification part;

[0031] The identification unit forms a modulation instruction for controlling the fixing part according to the spatial position information of the first identification part and the second identification part;

[0032] The driver assembly adjusts the spatial position of the fixing part in response to the modulation instruction.

[0033] Preferably, the driver assembly adjusts the spatial position of the fixing part in response to the modulation instruction comprises:

[0034] The driver assembly adjusts the moving speed of the fixing part based on the distance change between the target position of the clamping mechanism and the actual position of the fixing part.

[0035] The experimental animal placement system can guide the movement of the fixing unit to the desired position through the specific identification section of the clamping mechanism, without disassembling the fixing unit during the movement, while avoiding contact with the test animal, saving the time spent on adjusting the body position, and ensuring the safety of the test personnel. Secondly, in the case of adjusting the body position of the test animal during the test, the conventional automatic body position adjustment is usually realized by calculating the driving parameters of each driving assembly by the processing unit in the form of pre-inputting body position parameters, but the pre-input body position parameters have errors with the actual or desired actual body position with reliable operation field, which needs multiple and repeated input parameters to adjust the body position to achieve the expected effect. The application simulates the limb extension direction of the test animal by the specific identification section of the clamping mechanism, and the expected position of the limb is observed by visual observation of the test personnel, which can estimate whether the expected body position has a good test field before the body position of the test animal is adjusted, avoiding the waste of time caused by multiple adjustments. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a top view schematic diagram of the placement mechanism of a preferred embodiment provided by the application;

[0037] Figure 2 is a top view structural diagram of the placement mechanism of a preferred embodiment provided by the application;

[0038] Figure 3 is a sectional view structural diagram of the placement mechanism of a preferred embodiment provided by the application;

[0039] Figure 4 is a structural schematic diagram of the clamping mechanism of a preferred embodiment provided by the application.

[0040] LIST OF REFERENCE NUMERALS

[0041] 100: positioning mechanism; 200: clamping mechanism; 300: base plate; 400: experimental mouse; 500: support frame; 110: bearing portion; 120: fixing portion; 121: fixing unit; 122: recognition unit; 123: control unit; 124: first driver; 125: second driver; 126: third driver; 127: first recognition portion; 210: clamping portion; 220: holding portion; 230: second recognition portion. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present application will be described in detail below with reference to the drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application can be more clearly defined. Example 1

[0043] The present application provides an experimental animal positioning system, as shown in Figures 1 to 4 The experimental animal positioning system can include:

[0044] The operable positioning mechanism 100 includes a bearing portion 110 for bearing the torso of an experimental mouse and a fixing portion 120 for adjustably bearing the limbs of the experimental mouse. Further, the fixing portion 120 has a first recognition portion 127 for positioning. The movable clamping mechanism 200 is used to pre-position the experimental mouse 400 to the positioning mechanism 100 and has a second recognition portion 230 for guiding the fixing portion 120. The recognition unit 122 is capable of forming a modulation instruction according to the spatial position information of the first recognition portion 127 and the second recognition portion 230, so as to allow the fixing portion 120 to be adjusted at least in terms of spatial position in response to the modulation instruction. The driver assembly is drivably mechanically coupled to the fixing portion 120 and is capable of adjusting the spatial position of the fixing portion 120 in response to the modulation instruction of the recognition unit 122. In particular, in the present application, the adjustment of the fixing portion 120 is based on the spatial position difference between the first recognition portion 127 and the second recognition portion 230. Alternatively, the fixing portion 120 is adjusted with the spatial position of the clamping mechanism 200 having the second recognition portion 230 as the target position.

[0045] According to a preferred embodiment, referring to Figure 1 and Figure 2 The positioning mechanism 100 provided by the present application can include a mechanically connected bearing portion 110 and fixing portion 120. Specifically, as shown in Figure 1 and Figure 2As shown, the bearing part 110 is substantially a rectangular platform. Further, the bearing part 110 can include a trunk bearing part and a head bearing part. The trunk bearing part and the head bearing part can be detachably connected. Alternatively, the trunk bearing part and the head bearing part can be fixedly connected. Specifically, the trunk bearing part is configured as a rectangular platform. One specific example of the head bearing part is a net structure with elastic restoring capability. In particular, the net structure can be an arc-shaped metal net, which allows the experimental mouse 400 to breathe while ensuring a basic restraint force, and provides a field of view for the operator to conveniently observe and adjust.

[0046] According to one preferred embodiment, referring to Figure 2 and Figure 3 , the fixing part 120 is distributed on both sides of the bearing part 110. The fixing part 120 is configured to be adjustably attached and fixed to the limbs of the experimental mouse 400. Specifically, as shown in Figure 2 , the fixing part 120 can include a plurality of fixing units 121 corresponding to the limbs of the experimental mouse 400, respectively. Further, the fixing part 120 can also include an adjustable driver that is drivingly connected to each fixing unit 121. Specifically, referring to Figure 2 and Figure 3 , the driver is drivingly mechanically coupled to the fixing unit 121 and the bearing part 110.

[0047] According to one preferred embodiment, referring to Figure 3 , the adjustable driver can include a first driver 124, a second driver 125, and / or a third driver 126. In particular, the first driver 124, the second driver 125, and / or the third driver 126 are configured as a telescopic rod based on hydraulic, pneumatic, or electric principles. Preferably, in the present application, the first driver 124, the second driver 125, and / or the third driver 126 can be an electric push rod or an electric telescopic rod.

[0048] According to one preferred embodiment, referring to Figure 2 and Figure 3 , the first driver 124 is operatively attached to both sides of the bearing part 110. Specifically, the first driver 124, for example in the form of an electric push rod, can extend in a first direction. Alternatively, the first driver 124, for example in the form of an electric push rod, can be configured along the length direction of the bearing part 110 or the length direction of the experimental mouse 400. Specifically, the first driver 124 can be used to control the movement of the fixing unit 121 attached and fixed to the limbs of the experimental mouse 400 in the first direction, such as adjusting the spacing of the upper and lower limbs of the experimental mouse 400. In particular, in the present application, the number of first drivers 124 can be four, for controlling the four limbs of the experimental mouse 400, respectively.

[0049] According to one preferred embodiment, referring to Figure 2 andFigure 3 The second driver 125 is operatively mechanically coupled to the first driver 124. Specifically, the second driver 125 can be connected at the driving end of the first driver 124. Further, the second driver 125, for example, an electric push rod, can extend in a second direction. Alternatively, the second driver 125, for example, an electric push rod, can be arranged in the width direction of the carrier 110 or the width direction of the experimental mouse 400. The first direction and the second direction are in the plane of the carrier 110, intersect with each other, and preferably perpendicular. Specifically, the second driver 125 can be used to control the movement of the fixing unit 121 attached and fixed to the limbs of the experimental mouse 400 in the second direction, such as adjusting the spacing of adjacent upper limbs or lower limbs of the experimental mouse 400. In particular, in the present application, the number of second drivers 125 can be four, respectively used to control the four limbs of the experimental mouse 400.

[0050] According to a preferred embodiment, referring to Figure 2 and Figure 3 The third driver 126 is operatively mechanically coupled to the second driver 125. Specifically, the third driver 126 can be connected at the driving end of the second driver 125. Further, the third driver 126, for example, an electric push rod, can extend in a third direction. Alternatively, the third driver 126, for example, an electric push rod, can be arranged in the height direction of the carrier 110. The third direction intersects with the first direction and the second direction in the plane, and preferably perpendicular. Specifically, the third driver 126 can be used to control the movement of the fixing unit 121 attached and fixed to the limbs of the experimental mouse 400 in the third direction, such as adjusting the height of the upper limbs or lower limbs of the experimental mouse 400. In particular, in the present application, the number of third drivers 126 can be four, respectively used to control the four limbs of the experimental mouse 400.

[0051] According to a preferred embodiment, the fixing unit 121 is configured as a table body for carrying and fixing the limbs of the experimental mouse 400. The surface of the table body can be provided with adjustable straps for limiting or restraining the limbs of the experimental mouse 400. In particular, the adjustable straps can be in the form of manual lacing, such as snaps, ties, and magic tape, but not limited to. Alternatively, as preferably, the adjustable straps can be in the form of electric lacing belts. In particular, the surface of the table body in contact with the experimental mouse 400 can be provided with a cushioning structure, such as a rubber pad, a silicone pad, or a sponge pad. The cushioning structure can reduce the compression of the adjustable straps on the limbs of the experimental mouse 400, alleviate the anxiety of the experimental mouse 400, especially the live mouse without anesthesia, and avoid its overreaction, affecting the experimental observation and operation.

[0052] Further, the transmission end of the third driver 126 connected or coupled with the base of the fixed unit 121 can be provided with a fourth driver (not shown in the figure). In particular, the fourth driver can be a driving motor. Specifically, the transmission end of the third driver 126 can be provided with a housing. Inside the housing, a driveable micro-servo motor can be disposed. Further, the driving shaft of the servo motor is connected to the bottom of the base of the fixed unit 121. Specifically, in order to adjust the limb shape change of the experimental mouse 400 when adjusting the spatial position of the limbs of the experimental mouse 400 by the first driver 124, the second driver 125 and / or the third driver 126 (for example, the angle between the upper limbs and the torso of the experimental mouse 400), in the state shown in the figure, the fourth driver can be used to control the rotation of the fixed unit 121 on the plane where the bearing part 110 is located, such as controlling the rotation of the fixed unit 121. For example, the upper limbs of the experimental mouse 400 are adjusted to the state shown in Figure 1 For example, the upper limbs of the experimental mouse 400 are adjusted to the state shown in Figure 1 For example, the upper limbs of the experimental mouse 400 are adjusted to the state shown in

[0053] In particular, the movement of the first driver 124, the second driver 125, the third driver 126 and the fourth driver in the respective direction or plane can be performed simultaneously, or can be performed in a specific order in sequence or alternately. That is, those skilled in the art can understand that the movement of the first driver 124, the second driver 125, the third driver 126 and the fourth driver in adjusting the movement of the fixed unit 121 in multiple different directions can not be limited by a specific order.

[0054] According to a preferred embodiment, referring to Figure 3The first identification part 127 is particularly made of a film structure or a coating structure made of a material that can reflect and / or absorb a specific light signal (e.g. infrared light). Specifically, the first identification part 127 can be arranged on any one or all of the surface, the side and the bottom of the fixing unit 121 that contacts the limbs of the experimental mouse 400. Further, the first identification part 127 can have a preset specific shape or pattern, such as a rectangle, a circle, a diamond or other possible geometric shapes. In addition, the number of the first identification part 127 can be one or more. Preferably, when there are multiple first identification parts 127, the multiple first identification parts 127 can form a specific pattern on the surface of the fixing unit 121, such as being arranged along a ring shape at intervals. Unlike other parts of the fixing unit 121, the first identification part 127 can be sensed by a specific light signal (e.g. infrared light) and thus can be identified, so that the spatial position (e.g. the three-dimensional spatial coordinates) of the fixing unit 121 can be determined. In addition, the first identification part 127 can also be identified based on the principle of electromagnetic induction, infrared thermal radiation, etc.

[0055] According to a preferred embodiment, referring to Figure 3 The surface of the bottom plate 300 for carrying or mounting the carrying part 110 and the fixing part 120 can be provided with a support frame 500. Specifically, the support frame 500 is substantially a rectangular frame. In particular, the support frame 500 can be provided corresponding to each fixing unit 121. Further, the support frame 500 can be arranged partially or entirely on top of the fixing unit 121.

[0056] According to a preferred embodiment, the support frame 500 can be provided with an identification unit 122. The identification unit 122 can include one or more light sources (e.g. light-emitting diodes) and a photodiode. Specifically, the light (e.g. infrared light) generated by the light source (e.g. light-emitting diode) is provided to the first identification part 127 of the fixing unit 121, and the reflected light of the light source by the first identification part 127 is received by the photodiode. The photodiode converts the received emitted light into a modulated voltage and sends it to the processor. The signal conditioning circuit of the processor demodulates the modulated voltage from the photodiode into a signal reflecting the spatial position information of the first identification part 127. In particular, the identification unit 122 can have a processor, so that the identification unit 122 can process the light reflected by the first identification part 127 as the spatial position coordinates of the first identification part 127. Alternatively, the identification unit 122 only has a signal transceiver function, which can convert the reflected light of the light source by the first identification part 127 into a voltage signal and provide it to the terminal processor for analysis and calculation to determine the spatial position coordinates of the fixing unit 121 containing the first identification part 127.

[0057] According to a preferred embodiment, the recognition unit 122 can also be arranged in an external device which can be operated independently. For example, the spatial position information of the fixed unit 121 with the first recognition part 127 can be detected and determined by a handheld signal transceiving and processing device. Therefore, the arrangement of the recognition unit 122 described above is not a limitation to the specific structure of the recognition unit 122 in the present application.

[0058] According to a preferred embodiment, referring to Figure 3 , the bearing part 110 and the fixed part 120 can be formed or arranged on the surface of a base plate 300. Further, the control unit 123 can be built in the bearing part 110. Alternatively, the control unit 123 can be arranged on the surface of the base plate 300 and covered by the bearing part 110. Specifically, the control unit 123 can calculate the working parameters (such as the modulation current input to each driver) of each driver (such as the first driver 124, the second driver 125, the third driver 126 and / or the fourth driver) in response to the modulation instruction determined by the recognition unit 122 based on the spatial position information of the fixed unit 121 with the first recognition part 127 and the clamping mechanism 200 with the second recognition part 230, so as to control the action of each driver based on the determined working parameters, thereby adjusting the spatial position of the fixed unit 121. That is, based on the movement of the clamping mechanism 200, each fixed unit 121 is driven to move to the target position where the clamping mechanism 200 is located, so that the limbs of the experimental mouse 400 can be moved to the desired position, thereby meeting the needs of the experimental personnel for observation and experimental operation from different angles.

[0059] It should be understood that the control unit 123 can also be integrated with the recognition unit 122 for signal transceiving recognition. Alternatively, the control unit 123 can also be the processor of a terminal device such as a mobile phone or a computer. Therefore, the analysis and calculation functions of the control unit 123 can also be performed by the recognition unit 122 or by a remote terminal. As a non-limiting example, the person skilled in the art can select the arrangement form of the control unit 123 according to the needs, and therefore the above structure should not be regarded as a limitation to the specific structure of the control unit 123.

[0060] According to a preferred embodiment, in the present application, the movement or adjustment of the spatial position of the fixed part 120, more specifically, the fixed unit 121, is performed based on the movement of the clamping mechanism 200 which can be recognized within the predetermined range of the limbs of the experimental mouse 400. In particular, Figure 4 The specific structure of the clamping mechanism 200 with the function of guiding positioning provided by the present application is shown.

[0061] According to a preferred embodiment, referring to Figure 4 , in the present application, one specific example of the clamping mechanism 200 can be a pair of tweezers commonly used by the experimental personnel when performing experimental operations. Further, in the present application,Figure 4 As shown in the tweezers, the clamping mechanism 200 can include a pair of oppositely arranged tweezers bodies. Specifically, the pair of tweezers bodies are each fixedly connected at one end opposite to each other to form a holding portion 220, and are spaced apart at the other end to form a clamping portion 210 with adjustable opening. In particular, the clamping mechanism 200 can be configured with a second identification portion 230. Specifically, the second identification portion 230 can be arranged on the clamping portion 210 at the end of the clamping mechanism 200, for example.

[0062] According to a preferred embodiment, the second identification portion 230 can be a film structure or a coating structure made of a material that can produce special reflection and / or absorption to a specific light signal (such as ultraviolet light), similar to the first identification portion 127. Specifically, the second identification portion 230 can be arranged on the outer side of the clamping mechanism 200. Further, the second identification portion 230 can have a predetermined specific shape or pattern, such as a rectangle, a circle, a diamond, or other possible geometric shapes. In addition, the number of the second identification portion 230 can be one or more. Preferably, when the second identification portion 230 is arranged in multiple, the multiple second identification portions 230 can form a specific pattern on the surface of the clamping mechanism 200, such as being arranged in intervals along the extension direction of the tweezers body. In particular, the second identification portion 230 can be able to respond to a specific light signal (such as ultraviolet light), so as to be identified, so that the spatial position (such as the spatial three-dimensional coordinates) of the clamping mechanism 200 can be determined. In addition, the second identification portion 230 can also be identified based on electromagnetic induction, infrared thermal radiation, etc.

[0063] According to a preferred embodiment, the adjustment of the working parameters of each driver to control the movement of the fixing unit 121 based on the spatial position information of the clamping mechanism 200 can be through a lookup table or based on a preset program algorithm / relationship model. For example, a neural network model can be built in the control unit 123, and the method for establishing the neural network model can be that the spatial position coordinates of the clamping mechanism 200 are taken as the input layer nodes, the actions / working parameters of each driver are taken as the output layer nodes, and through experiments, the spatial position coordinates of the clamping mechanism 200 are obtained by the identification unit 122 and the control unit 123, while the actions / working parameters of each driver are changed, so that the fixing unit 121 can reach the desired target position. Further, the spatial position information when the fixing unit 121 reaches the target position (such as the target spatial coordinates) of the clamping mechanism 200 and the corresponding actions / working parameters of each driver are recorded in association to form a training data set, and the neural network model is obtained.

[0064] According to a preferred embodiment, in the process of positioning and posture adjustment of the experimental mouse 400 by the positioning mechanism 100 provided by the present application, the spatial position information of the fixing unit 121 and the clamping mechanism 200 is obtained by the recognition unit 122 and / or the control unit 123 based on the first recognition part 127 and the second recognition part 230 respectively, and after the spatial position information of the clamping mechanism 200 is determined by the recognition unit 122 and / or the control unit 123, the spatial position information of the clamping mechanism 200 can be input into the pre-established neural network model to obtain the expected action / work parameters of each driver, and the recognition unit 122 and / or the control unit 123 input the action / work parameters of each driver into the corresponding driver to adjust the spatial position of the corresponding fixing unit 121 by the driver, so as to move the fixing unit 121 to the target position of the clamping mechanism 200.

[0065] Specifically, in the neural network model, the corresponding relationship between the spatial position information of the target position (such as the target spatial coordinate) of the clamping mechanism 200 and the action / work parameters of each driver can be the corresponding relationship between the output current input into each driver (hydraulic, pneumatic or electric) and the spatial position coordinate of the clamping mechanism 200.

[0066] According to a preferred embodiment, in order to facilitate the determination of the spatial position information of the fixing unit 121 and the clamping mechanism 200, and correctly guide the fixing unit 121 to be adjusted with the clamping mechanism 200 as the target, in the present application, the first recognition part 127 and the second recognition part 230 can have different sensing properties. For example, the first recognition part 127 and the second recognition part 230 can respectively produce special sensing to light rays of different wavelengths or light colors. Specifically, in order to make the first recognition part 127 and the second recognition part 230 have different properties, one special case is to make the first recognition part 127 and the second recognition part 230 respectively formed by materials capable of sensing light rays of different wavelengths or light colors. Alternatively, the fixing unit 121 and the clamping mechanism 200 can each have a different number of recognition parts, so that the recognition unit 122 or the control unit 123 can determine the target object and the driven object in the fixing unit 121 and the clamping mechanism 200 based on the difference in the number of recognition parts.

[0067] On the other hand, the identification unit 122 determines the target object and the driving object in the fixing unit 121 and the clamping mechanism 200 can also be performed by the difference in time sequence. Specifically, the fixing unit 121 is usually continuously maintained in the detectable range of the identification unit 122, while the clamping mechanism 200 usually only appears in the detectable range of the identification unit 122 or needs to be identified by the identification unit 122 when the spatial position of the fixing unit 121 needs to be adjusted. Therefore, based on the reflection of the light signal, the fixing unit 121 is usually identified at the first time point, and the clamping mechanism 200 is usually identified at the second time point thereafter. In particular, as a non-limiting example, those skilled in the art can use the first identification part 127 and the second identification part 230 with different light sensing properties or different quantities to determine any one or a combination of the target object and the driving object in the fixing unit 121 and the clamping mechanism 200 by the difference in time sequence, and is not limited thereto.

[0068] According to a preferred embodiment, as an alternative, the identification unit 122 of the present application can also be directly arranged on the fixing unit 121, so that the first identification part 127 can not be arranged on the fixing unit 121. Specifically, one or more identification units 122 can be arranged on any one or all of the surface, side and bottom of the fixing unit 121. The identification unit 122 periodically or continuously provides a light signal that can be sensed around the fixing unit 121, which can be sensed by the second identification part 230 of the clamping mechanism 200. Further, the identification unit 122 determines the spatial position information of the second identification part 230 based on the reflection signal of the light signal generated by the second identification part 230, so that the identification unit 122 or the control unit 123 can determine the movement target of the fixing unit 121 based on the spatial position information of the clamping mechanism 200, and adjust the working parameters of each driver to adjust or move each fixing unit 121 to the target position according to the target position of the clamping mechanism 200.

[0069] Further, when the identification unit 122 is arranged on the fixing unit 121, as an alternative, the clamping mechanism 200 can be configured to be able to generate a light signal that can be sensed. For example, the clamping mechanism 200 is provided with a controllable light source that can provide light (such as infrared light) to the identification unit 122, and the light signal receiver of the identification unit 122 can identify the light signal from the clamping mechanism 200, and determine the spatial position information of the clamping mechanism 200 based on the light signal, so that the identification unit 122 or the control unit 123 can determine the working parameters of each driver according to the spatial position information of the clamping mechanism 200, so as to control each driver to adjust or move the fixing unit 121 to the target position.

[0070] According to a preferred embodiment, the length of the limbs of the experimental mouse 400 is usually limited and fixed, and in order to avoid obvious pulling on the experimental mouse 400, the position adjustment of the fixing units 121 in the present application is performed within a predetermined adjustable range. In other words, each fixing unit 121 has a corresponding adjustable range, and the adjustable range is usually determined based on a circular or spherical range with the joint between the limbs and the torso of the experimental mouse 400 as the center and the limbs of the experimental mouse 400 as the radius. In view of this, before the fixing unit 121 is guided by the clamping mechanism 200 to move to the target position, it is further included to determine whether the clamping mechanism 200 is within the adjustable range.

[0071] Specifically, when the clamping mechanism 200 is placed circumferentially around each fixing unit 121, the recognition unit 122 and / or the control unit 123 first determines whether the current position of the clamping mechanism 200 is within the appropriate position of the adjustable range according to the spatial position information of the clamping mechanism 200. If the clamping mechanism 200 is not within the adjustable range, the recognition unit 122 and / or the control unit 123 can output prompt information through a terminal device connected with a signal or a network to inform the operator that the target position of the clamping mechanism 200 is inappropriate and should be adjusted. Alternatively, the recognition unit 122 and / or the control unit 123 can also output visual and / or audible prompt instructions that can be perceived by the operator through signal indicators (not shown in the figure) arranged on the surface of the base plate 300, such as signal lights, speakers, etc. For example, a flashing red light is output through the signal indicator light arranged on the surface of the base plate 300.

[0072] On the other hand, if the clamping mechanism 200 is within the adjustable range, the recognition unit 122 and / or the control unit 123 normally perform the recognition of the spatial position information of the fixing units 121 and / or the clamping mechanism 200, and determine the action / work parameters of each driver based on the recognition result to adjust the corresponding fixing unit 121 through each driver.

[0073] Specifically, during the process of adjusting the spatial position of the fixing unit 121 using each actuator, if the adjustment range is too large, it may cause obvious pulling sensation to the experimental mouse 400. Especially for live mice that have not been anesthetized, obvious pulling or rapid changes in limb position can easily cause an overreaction in the experimental mouse 400. Furthermore, the pulling of the limbs may damage its muscle tissue, and the discomfort of the limbs can easily cause fluctuations in the emotional state of the experimental mouse 400. If the experimental mouse 400 feels nervous, it may affect the respiratory and heart rhythm and the secretion of hormones or pheromones in the body. This is detrimental to subsequent experimental observation and operation, and may easily lead to unrealistic experimental results. Moreover, the experimental mouse 400 in an unnatural state may become aggressive, which is also detrimental to the safety of the operator. Therefore, in this invention, the rate at which the control unit 123 adjusts the spatial position of the corresponding fixing unit 121 through each actuator is executed in relation to the distance between the target position of the clamping mechanism 200 and the actual position of the fixing unit 121.

[0074] Specifically, the distance between the target position of the clamping mechanism 200 and the actual position of the fixing unit 121 indirectly reflects the magnitude or range of limb changes in the experimental mouse 400 caused by this adjustment. Therefore, the greater the actual adjustment distance, the greater the magnitude of limb changes in the experimental mouse 400, and the greater the possibility of negative impacts on the physical and emotional well-being of the experimental mouse 400. In view of this, the rate at which the control unit 123 adjusts the spatial position of the corresponding fixing unit 121 through each actuator should change in a timely manner according to the change in the distance between the target position of the clamping mechanism 200 and the actual position of the fixing unit 121.

[0075] For example, if the upper limb of the experimental mouse 400 is in a naturally placed and fixed state, then the upper limb of the experimental mouse 400 will be adjusted to, for example, a fixed position using the fixing unit 121. Figure 1 In the indicated state, the upper limbs of the experimental mouse 400 move away from its torso. As this movement continues, the stretching of the upper limbs becomes increasingly pronounced. Therefore, the moving speed of the fixing unit 121 should be reduced in a timely manner to alleviate the noticeable pulling sensation on the experimental mouse 400. Furthermore, a speed adjustment point can be preset. This speed adjustment point can be set by the operator based on the distance between the target position of the clamping mechanism 200 and the actual position of the fixing unit 121, or determined through a preset custom program. Specifically, before this adjustment point, each actuator tends to move the fixing unit 121 at a relatively consistent speed; after this adjustment point, as the amplitude of the limb movement of the experimental mouse 400 increases, the speed at which each actuator moves the fixing unit 121 decreases or becomes relatively slower. Example 2

[0076] This embodiment is a further improvement of the content of embodiment 1, and the repeated content will not be described again.

[0077] This embodiment provides an experimental animal positioning method, which can utilize the experimental animal positioning system as described in embodiment 1. Specifically, the experimental animal positioning method can include the following steps:

[0078] A movable clamping mechanism 200 with a second identification part 230 is provided.

[0079] The experimental mouse 400 is positioned in the operable positioning mechanism 100 by using the clamping mechanism 200, wherein the positioning mechanism 100 includes a bearing part 110 bearing the torso of the experimental mouse 400 and a fixing part 120 adjustably bearing the limbs of the experimental mouse 400, and the fixing part 120 has a first identification part 127.

[0080] The identification unit 122 forms a modulation instruction for controlling the fixing part 120 according to the spatial position information of the first identification part 127 and the second identification part 230.

[0081] The driver assembly adjusts the spatial position of the fixing part 120 in response to the modulation instruction.

[0082] According to a preferred embodiment, the identification unit 122 forms a modulation instruction for adjusting the spatial position of the fixing part 120 according to the spatial position information of the first identification part 127 of the fixing part 120 and the second identification part 230 of the clamping mechanism 200, which includes determining whether the clamping mechanism 200 is in the appropriate adjustable range. Specifically, if the clamping mechanism 200 is not in the adjustable range, the identification unit 122 and / or the control unit 123 output a perceptible prompt instruction to the operator. For example, a visual and / or audible prompt instruction that can be perceived by the operator is output through a signal indicator arranged on the surface of the base plate 300 to inform the operator that the current position is incorrect.

[0083] According to a preferred embodiment, the identification unit 122 forms a modulation instruction for adjusting the spatial position of the fixing part 120 according to the spatial position information of the first identification part 127 of the fixing part 120 and the second identification part 230 of the clamping mechanism 200, which further includes: if the clamping mechanism 200 is in the adjustable range, the identification unit 122 and / or the control unit 123 perform identification of the spatial position information of the fixing unit 121 and / or the clamping mechanism 200, and determine the action / working parameters of each driver based on the identification result, so as to adjust the corresponding fixing unit 121 through each driver.

[0084] According to a preferred embodiment, the driver assembly can include the first driver 124, the second driver 125, the third driver 126, and the fourth driver as shown in embodiment 1.

[0085] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to devise modifications which, though perhaps not explicitly described or shown herein, nonetheless fall within the scope of the application. Accordingly, the patent application includes all modifications encompassed within the scope of the claims and their equivalents. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended to cover all such inventive concepts. The patent application contains several inventive concepts, and the claims are intended

Claims

1. An experimental animal housing system, characterized by comprising: include: The operable placement mechanism (100) includes a support part (110) for supporting the torso of the experimental mouse (400) and a fixing part (120) for adjustingly supporting the limbs of the experimental mouse (400), wherein the fixing part (120) has a first identification part (127). A movable clamping mechanism (200) for placing a laboratory mouse (400) into the placement mechanism (100) and having a second identification part (230). The identification unit (122) is used to form a modulation command for controlling the fixed part (120) based on the spatial position information of the first identification part (127) and the second identification part (230); A driver assembly, connected to the carrier (110) and mechanically coupled to the fixing part (120) in a drivable manner, is capable of adjusting the spatial position of the fixing part (120) in response to the modulation command; The fixing part (120) includes a plurality of fixing units (121) corresponding to the limbs of the experimental mouse (400). The fixing units (121) are adjustablely attached to and fixed to the limbs of the experimental mouse (400) and connected to the actuator assembly. The identification unit (122) forms modulation commands for controlling the fixed part (120) based on the spatial position information of the first identification unit (127) and the second identification unit (230), including: The operating parameters of the driver assembly are determined based on the spatial position information of the first identification unit (127) and the second identification unit (230); The modulation current input to the driver component is determined based on the aforementioned action parameters; The driver assembly operates based on the modulated current to adjust the fixing part (120) to the target position; The rate at which the control unit (123) adjusts the spatial position of the corresponding fixing unit (121) via each driver varies with the distance between the target position of the clamping mechanism (200) and the actual position of the fixing unit (121).

2. The experimental animal housing system according to claim 1, wherein The determination of the driving component's operating parameters based on the spatial position information of the first identification unit (127) and the second identification unit (230) includes: The spatial position information of the clamping mechanism (200) having the second identification part (230) is imported into a pre-established relational model; The desired action parameters of the driver component are output through the relational model.

3. The experimental animal housing system according to claim 2, wherein The acquisition of spatial position information of the placement mechanism (100) and clamping mechanism (200) by the identification unit (122) is performed based on the sensing of preset light signals by the first identification unit (127) and the second identification unit (230).

4. The experimental animal housing system according to claim 3, wherein The driver component includes: A plurality of first actuators (124) are adjustablely attached to the support portion (110) and are used to control the movement of the fixing unit (121) along a first direction; The second driver (125) is adjustablely attached to the first driver (124) and is used to control the movement of the fixed unit (121) in a second direction; A third driver (126) adjustably attached to the second driver (125) and connected to the fixing unit (121) for controlling the movement of the fixing unit (121) along a third direction.

5. The experimental animal housing system according to claim 4, wherein Before the recognition unit (122) forms the modulation instruction for controlling the fixing unit (120) according to the spatial position information of the first recognition part (127) and the second recognition part (230), it further includes determining whether the spatial position of the clamping mechanism (200) is within a preset adjustable range.

6. An experimental animal housing method, characterized by, Comprise: Providing a movable clamping mechanism (200) with a second recognition part (230); Using the clamping mechanism (200) to place the experimental mouse (400) on the operable placement mechanism (100), wherein the placement mechanism (100) comprises a bearing part (110) bearing the experimental mouse (400) torso and an adjustable fixing part (120) bearing the experimental mouse (400) limbs, and the fixing part (120) has a first recognition part (127); The recognition unit (122) forms a modulation instruction for controlling the fixing unit (120) according to the spatial position information of the first recognition part (127) and the second recognition part (230); The driver assembly adjusts the spatial position of the fixing unit (120) in response to the modulation instruction; The fixing unit (120) comprises a plurality of fixing units (121) corresponding to the limbs of the experimental mouse (400), which are adjustably attached and fixed to the limbs of the experimental mouse (400) and connected with the driver assembly; The recognition unit (122) forms a modulation instruction for controlling the fixing unit (120) according to the spatial position information of the first recognition part (127) and the second recognition part (230) includes: Determine the action parameters of the driver assembly based on the spatial position information of the first recognition part (127) and the second recognition part (230); Determine the modulation current input to the driver assembly based on the action parameters; The driver assembly acts based on the modulation current to adjust the fixing unit (120) to the target position; The control unit (123) changes the speed of adjusting the spatial position of each fixing unit (121) by the corresponding driver with the change of the distance between the target position of the clamping mechanism (200) and the actual position of the fixing unit (121).

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