Accurate positioning injection device for experimental animal tumor model

Abstract

The invention relates to the technical field of biomedical engineering, in particular to a precise positioning injection device for an experimental animal tumor model, which comprises an injection platform, an amplification component slidably connected to the injection platform, a plurality of binding detection components fixedly connected to the injection platform, and a positioning table slidably connected to the injection platform. A positioning box body is arranged on the positioning table; the positioning box internally comprises a driving cavity and a transmission cavity, a driving wheel assembly is slidably connected into the driving cavity, a first worm gear is rotatably connected into the transmission cavity, a liquid pushing assembly is arranged above the first worm gear, the first worm gear can be meshed with the driving wheel assembly, and a first threaded rod is in threaded connection with the center of the first worm gear. A positioning hole corresponding to the first threaded rod is formed in the inner bottom wall of the transmission cavity, and a depth sensor is fixedly connected to the bottom of the first threaded rod. According to the invention, the injection depth is monitored and controlled in real time through mechanical transmission of the worm and the worm gear in combination with depth detection, so that the influence of injection depth errors on experimental results is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of biomedical engineering, and in particular to a precise positioning injection device for an experimental animal tumor model. Background Art

[0002] Animal tumor models are important tools in oncology research. By establishing primary models (using tumor-inducing drugs to induce tumors in animals) or transplant tumor models (transplant tumor models involve injecting extracted tumor cells in situ or subcutaneously), they can simulate the occurrence of human tumors and observe their development and treatment process, providing reliable experimental subjects and basis for tumor research.

[0003] In the process of constructing animal tumor models, it is necessary to ensure accurate injection and positioning of tumor cells to ensure the stability and reliability of the model. Therefore, the demand for precise positioning injection devices, including injection platforms (to fix experimental animals and provide stability), magnification components (to magnify the details of the injection site) and positioning mechanisms, has emerged.

[0004] Due to individual differences between experimental animals and different injection requirements for different tumor models, this may lead to a certain depth error when the device is positioned for injection. In order to reduce the impact of this depth error on the experimental results, it is necessary to propose an injection device for experimental animal tumor models that can improve the accuracy of injection depth positioning. Summary of the invention

[0005] To solve the above problems, the present invention provides a precise positioning injection device for experimental animal tumor models. Through the mechanical transmission of the worm and the worm wheel, combined with the depth detection, the injection depth is monitored and controlled in real time, thereby reducing the impact of the injection depth error on the experimental results.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a precise positioning injection device for experimental animal tumor models, comprising an injection platform, a magnifying component for magnifying observation and positioning is slidably connected to the injection platform, a plurality of binding detection components for binding and stabilizing experimental animals and capable of detecting the vital signs of experimental animals are fixedly connected to the injection platform, an electric slide rail is provided on the injection platform, a positioning platform is slidably connected to the electric slide rail, and a positioning box is fixedly connected to the positioning platform;

[0007] The positioning box includes a driving chamber and a transmission chamber, a driving wheel assembly for meshing transmission is slidably connected in the driving chamber, a first worm gear is rotatably connected in the transmission chamber, a fluid pushing assembly for displacement and pressing of fluid is provided above the first worm gear, the first worm gear and the driving wheel assembly can mesh, a hollow first threaded rod is threadedly connected at the center of the first worm gear, a first limit assembly for limiting the rotation of the first threaded rod is provided on the outer wall of the first threaded rod, a positioning hole corresponding to the first threaded rod is provided on the bottom wall of the transmission chamber, a depth sensor is fixedly connected to the bottom of the first threaded rod, a receiving end of the depth sensor is fixedly connected to the bottom wall of the transmission chamber, and a control system for controlling the start and shutdown of the driving wheel assembly according to the depth data collected by the depth sensor is connected to the depth sensor signal.

[0008] The technical principle of the above scheme is as follows: the experimental animal is tied to the injection platform and fixed by the binding detection component to ensure that it will not move during the injection process. The magnification component can slide on the injection platform for magnified observation and precise positioning of the injection point. The positioning table also slides on the injection platform and can adjust its position as needed. The positioning box fixed on it provides a stable environment for the injection operation. In the positioning box, the driving wheel assembly and the first worm gear are engaged and driven to drive the liquid pushing assembly to perform displacement and pressing operations. The first threaded rod is threadedly connected to the center of the first worm gear and its rotation is limited by the first limit assembly.

[0009] The above scheme has the following beneficial effects:

[0010] 1. In this solution, the driving wheel assembly and the first worm gear are meshed and transmitted, and the first threaded rod is threadedly connected to the center of the first worm gear, and its rotation is limited by the first limit assembly, but it is allowed to move axially, so that the injection operation is faster and more convenient, which can significantly improve the experimental efficiency and reduce the labor intensity of the experimenters.

[0011] 2. In this scheme, due to the differences in body shape, weight and other physical signs of experimental animals, it is necessary to consider the accuracy of the injection depth when performing tumor injections on different experimental animals in order to ensure the rationality and scientificity of subsequent experimental results. The use of depth sensors can monitor the insertion depth of the injection needle in real time, and cooperate with the mechanical main drive of the first turbine and the first worm to reduce the probability of injection errors caused by manual operation, ensure the control of the depth of each injection, and improve the reliability and accuracy of the experiment.

[0012] 3. In this solution, the depth sensor is fixedly connected between the bottom wall of the transmission cavity and the bottom of the first threaded rod, and is used to monitor the insertion depth of the injection needle in real time and transmit the signal to the control system. Through the cooperation of the control system and the drive wheel assembly, automated injection operation can be achieved, reducing manual intervention and errors.

[0013] Furthermore, the binding detection components include an elastic strap with an adjustment buckle on it, one end of the strap is fixedly connected to one side of the injection platform surface, the other end of the strap is fixedly connected to a card block, the card block is embedded in the surface of the injection platform, a first pressure sensor is fixedly connected to the top of the card block, and a second pressure sensor is fixedly connected to the surface of the injection platform, and both the first pressure sensor and the second pressure sensor are connected to the control system signal.

[0014] Beneficial effects: By integrating the data of the degree of bandage stretching collected by the first pressure sensor and the weight data of the experimental animals collected by the second pressure sensor, the girth information of the experimental animals can be accurately calculated, so that the injection process can be based on the obtained girth data, and the size of the experimental animals and the corresponding animal model can be further deduced, thereby tailoring personalized injection plans for experimental animals of various sizes, whether small rodents or large mammals, to ensure that the injection reagent can be accurately delivered to the target area, greatly improving the accuracy of drug delivery. In addition, with the help of automated body recognition and position positioning technology, the system significantly reduces the errors that may be introduced by manual measurement and injection in traditional methods, which not only enhances the standardization of experimental operations, but also greatly improves the repeatability of experimental results and data reliability, providing a more solid and reliable experimental basis for scientific research.

[0015] Furthermore, the driving wheel assembly includes a hollow supporting block, a hollow rotating drum is fixedly connected to the inner wall of one side of the supporting block, a worm is rotatably connected to the side of the rotating drum away from the inner wall of the supporting block, a driving assembly for driving the worm to rotate is fixedly connected inside the rotating drum, the driving assembly is connected to the control system signal, and one side of the worm can engage with the first worm wheel.

[0016] Beneficial effects: The driving wheel assembly in the precise positioning injection device for experimental animal tumor models achieves precise drive and control through the precise design of the bearing block, rotating cylinder, worm and driving assembly, improves the injection accuracy and degree of automation, flexibly adapts to different injection needs, and significantly improves the experimental efficiency and the repeatability of the results.

[0017] Furthermore, the liquid pushing assembly includes a second worm gear rotatably connected to the inner wall of the transmission chamber, a hollow second threaded rod is threadedly connected at the center of the second worm gear, a second limit assembly for limiting the rotation of the first threaded rod is provided on the outer wall of the second threaded rod, and a liquid pushing plug is detachably connected to the inside of the second threaded rod.

[0018] Beneficial effects: In the precise positioning injection device for experimental animal tumor models, the liquid pushing component achieves precise control of the liquid pushing action through the cooperation of the second worm gear, the second threaded rod, the second limit assembly and the detachable liquid pushing plug, enhances the stability of the component, facilitates maintenance and replacement, flexibly adapts to different injection needs, and significantly improves the experimental efficiency, providing high-accuracy and reliable technical support for the research of experimental animal tumor models.

[0019] Furthermore, a slide groove is opened in the driving cavity, the supporting block is vertically slidably connected in the slide groove, the bottom of the supporting block is fixedly connected with an electric control cylinder, the output shaft of the electric control cylinder is fixedly connected to the outer bottom wall of the supporting block, and the second worm gear is located in the moving trajectory of the worm and can engage with the worm.

[0020] Beneficial effects: In the driving chamber, the bearing block is connected by sliding up and down through a slide groove and is driven by an electric control cylinder, so that the worm can flexibly engage with the second worm gear. This design improves the flexibility and accuracy of the injection device and enhances its practicality.

[0021] Furthermore, a fixing layer is fixedly connected inside the first threaded rod.

[0022] Beneficial effect: The design of the fixed connection fixing layer in the first threaded rod strengthens the fixation of the worm and the syringe, helps to maintain the stability of the syringe during the driving process, and thus improves the overall performance and reliability of the injection device.

[0023] Furthermore, the first limiting assembly includes a first limiting groove vertically opened on the outer wall of the first threaded rod, and a first limiting block fixedly connected to the inner side wall of the transmission cavity is slidably connected in the first limiting groove; the second limiting assembly includes a second limiting groove vertically opened on the outer wall of the second threaded rod, and a second limiting block fixedly connected to the inner side wall of the transmission cavity is slidably connected in the second limiting groove.

[0024] Beneficial effects: The first and second limit assemblies are slidably connected to the limit block through the limit groove, which effectively limits the rotation of the worm in the transmission cavity, ensures the stability and accuracy of the liquid pushing action, and improves the reliability and durability of the injection device.

[0025] Furthermore, a laser instrument close to the positioning hole is fixedly connected to the outer bottom wall of the transmission cavity.

[0026] Beneficial effects: The laser instrument fixedly connected to the outer bottom wall of the transmission cavity is located close to the positioning hole. The laser instrument can emit a precise laser beam to provide clear visual guidance for the experimenters, helping them to more accurately determine the injection position, thereby reducing positioning errors and improving the accuracy and reliability of the experiment. At the same time, the use of the laser instrument also simplifies the positioning process, allowing the experimenters to complete the pre-injection preparation more quickly, thereby improving the efficiency of the experiment.

[0027] Further, the control system includes a preset module, a pressure acquisition module, a positioning module, a driving module, a displacement acquisition module, an identification module and an adjustment module;

[0028] A preset module for recording the injection insertion depth and injection insertion site entered by the operator;

[0029] A pressure acquisition module, used to respectively acquire the weight data of the experimental animal and the pressure data of the strap through a first pressure sensor and a second pressure sensor;

[0030] A positioning module, used for converting and calculating a body model of the experimental animal according to the pressure data of the plurality of straps collected by the plurality of first pressure sensors, and then transmitting a driving signal and calculation data to the driving module and the identification module respectively;

[0031] A drive module, used to drive and control the start and stop of the drive assembly and the electric slide rail;

[0032] A displacement acquisition module, used for acquiring a downward displacement distance of the first threaded rod through a depth sensor;

[0033] An identification module is used to identify and compare the downward displacement distance with the injection penetration depth recorded by the preset module, and transmit the information to the driving module and the regulating module respectively;

[0034] The regulating module is used to drive and control the start and stop of the electric control cylinder according to the information transmitted by the identification module.

[0035] Beneficial effects: The control system integrates preset, drive, acquisition, identification and adjustment modules, realizes accurate preset of injection penetration depth, precise drive of drive components and control electric cylinders, real-time acquisition and comparison of displacement data, and automatic adjustment according to comparison results, ensuring the accuracy and reliability of the injection process.

[0036] Furthermore, in the identification module, when the downward displacement distance is equal to the injection penetration depth recorded by the preset module, a signal is first transmitted to the drive module to stop the drive of the drive component, and then a signal is transmitted to the adjustment module to control the electric cylinder to start lifting the carrier block. After lifting, the adjustment module transmits a signal to the drive module to restart the operation of the drive component.

[0037] Beneficial effect: During the injection process, the recognition module can accurately identify the match between the displacement distance and the preset depth, stop the servo motor in time and start the electric cylinder to lift the bearing block, and then restart the servo motor. This process ensures precise control of the injection depth and improves the accuracy and safety of the injection.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a precise positioning injection device for an experimental animal tumor model of the present invention;

[0040] Figure 2 This is an embodiment of the precise positioning injection device for experimental animal tumor model of the present invention Figure 1 The enlarged cross-sectional view at A in the middle;

[0041] Figure 3 A front cross-sectional view of a positioning box of an embodiment of a precise positioning injection device for an experimental animal tumor model of the present invention;

[0042] Figure 4 A schematic diagram of the connection between the first worm gear and the worm in an embodiment of the precise positioning injection device for experimental animal tumor models of the present invention;

[0043] Figure 5 A schematic diagram of the connection between the worm and the rotating drum in the driving wheel assembly of the embodiment of the precise positioning injection device for experimental animal tumor models of the present invention;

[0044] Figure 6 This is a schematic diagram of the operation of a control system of an embodiment of a precise positioning injection device for an experimental animal tumor model of the present invention.

[0045] The figure marks in the drawings of the specification include: 1. injection platform; 2. amplification component; 3. binding detection component; 301. binding belt; 302. block; 303. first pressure sensor; 304. second pressure sensor; 4. positioning platform; 5. positioning box; 501. drive cavity; 502. transmission cavity; 6. bearing block; 7. rotating drum; 8. worm; 9. drive assembly; 10. first worm gear; 11. first threaded rod; 12. first limit groove; 13. first limit block; 14. positioning hole; 15. depth sensor; 16. second worm gear; 17. second threaded rod; 18. second limit groove; 19. second limit block; 20. push plug; 21. sliding groove; 22. electric control cylinder; 23. fixed layer; 24. laser instrument. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The following is further described in detail through specific implementation methods:

[0050] Embodiment 1:

[0051] As attached Figure 1 As shown, a precise positioning injection device for experimental animal tumor models includes an injection platform 1, and a magnifying component 2 for magnifying, observing and positioning is slidably connected to the injection platform 1. The magnifying component 2 includes an inclined magnifying glass, and an integrally formed vertical rod is fixedly connected to the bottom of the magnifying glass. The bottom end of the vertical rod is slidably connected to the injection platform 1 through a sliding groove of a slider, and the bottom of the vertical rod is connected to the groove on the injection platform 1 through a slider. When the experimenter needs to observe and locate the injection point, the magnifying glass can be slid to the desired position, and the magnifying effect of the magnifying glass facilitates the search for the location of the injection point. The inclined magnifying glass design allows the experimenter to observe from a more natural perspective, reduces the fatigue caused by long-term operation, and improves the accuracy of injection.

[0052] The injection platform 1 is fixedly connected with a plurality of binding detection components 3 by rivets for binding and stabilizing the experimental animals and detecting the vital signs of the experimental animals, as shown in FIG. Figure 2As shown, the binding detection components include an elastic strap 301 to ensure that the accuracy of the injection will not be affected by the animal's struggle or movement during the injection process. The strap 301 is made of a soft and elastic material to reduce unnecessary harm to the experimental animal; an adjustment buckle is provided on the strap 301, and the adjustment buckle is used to adjust the tightness of the strap 301. The experimenter can adjust the tightness of the strap 301 according to the body shape and size of the experimental animal to ensure that the experimental animal remains stable during the injection process; one end of the strap 301 is fixedly connected to the left side of the surface of the injection platform 1 by a screw, and the other end of the strap 301 is fixedly connected to a block 302 by a screw, and the block 302 is embedded in the right side of the surface of the injection platform 1 and fixed to the left end of the strap 301 The first pressure sensor 303 is fixed to the top of the block 302 by screws. Taking experimental animals of different sizes as an example, after the experimental animal of small size is put on by the strap 301 and tightened and fixed by adjusting the adjustment buckle, the stretching degree of the strap 301 is small at this time, so the pulling force on the block 302 generated by the strap 301 is small, and the pressure data collected by the first pressure sensor 303 is also small. On the contrary, after the experimental animal of larger size is fixed by the strap 301, the stretching degree of the strap 301 is large at this time, resulting in that the pressure data collected by the first pressure sensor 303 will also be large. Therefore, the size difference of the experimental animals can be judged by converting the difference in the size of the pressure data collected by the first pressure sensor 303.

[0053] In addition, since different parts of experimental animals (such as the head, abdomen, neck and buttocks, etc.) vary in size, the body posture of the experimental animals can be recognized through the layout design of several binding detection components, and the binding position of the experimental animals on the injection platform 1 can be detected. The recognition of the body posture is conducive to the subsequent positioning of the specific injection position of the experimental animals.

[0054] A second pressure sensor 304 is fixedly connected to the surface of the injection platform 1 by rivets. The second pressure sensor 304 can collect weight characteristic data of the experimental animal, which is beneficial for evaluating and calculating the body fat rate of the experimental animal in combination with the simulated body shape characteristics collected by the first pressure sensor 303, and is convenient for assisting in controlling the subsequent insertion depth and increasing the accuracy of the insertion depth.

[0055] The injection platform 1 is also slidably connected to a positioning platform 4, which can slide on the injection platform 1 to adapt to the body sizes of different experimental animals and the requirements of different injection sites; the positioning platform 4 is fixedly connected to a positioning box 5 by bolts, as shown in FIG. Figure 3As shown, the positioning box 5 includes a driving cavity 501 and a transmission cavity 502. A driving wheel assembly for realizing meshing transmission is slidably connected in the driving cavity 501. The driving wheel assembly includes a hollow bearing block 6. The left side of the bearing block 6 is open, so that the right side of the bearing block 6 can be connected with the transmission cavity 502 to create a space for meshing transmission. A hollow rotating drum 7 is welded to the inner wall of the front side of the bearing block 6. The rotating drum 7 is rotatably connected to a worm 8 away from the front side of the bearing block 6 through a bearing, so that the worm 8 can rotate freely under the support of the rotating drum 7; as shown in detail Figure 5 As shown, a driving assembly 9 for driving the worm 8 to rotate is fixedly connected to the drum 7 by bolts, and the driving assembly 9 includes a servo motor. The output shaft of the servo motor is coaxially fixedly connected to the worm 8 by a coupling. When the servo motor is started, its output shaft will drive the worm 8 to rotate synchronously, and then the power of the servo motor is transmitted to other transmission components through the worm 8 through meshing transmission, so as to realize the driving and operation of the whole device; the servo motor signal is connected to a control system, and the parameters such as the start, stop and speed of the servo motor can be conveniently controlled through the control system, so as to realize the precise adjustment of the driving power of the servo motor, reduce the difficulty and complexity of the experimental operation, and improve the experimental efficiency.

[0056] A first load-bearing plate is welded to the inner wall of the transmission cavity 502, and a first worm gear 10 is rotatably connected to the bottom of the first load-bearing plate through a bearing, and the worm 8 can mesh with the first worm gear 10. When the worm 8 meshes with the first worm gear 10, the servo motor drives the worm 8 to rotate, which will drive the first worm gear 10 to rotate; a thread groove is provided at the center of the first worm gear 10, and a hollow first threaded rod 11 is threadedly connected in the thread groove, and a first limiting assembly for limiting the rotation of the first threaded rod 11 is provided on the outer wall of the first threaded rod 11, and the first limiting assembly includes a first limiting groove 12 provided on the outer wall of the first threaded rod 11, and the first limiting groove 12 is provided in the first limiting groove 12. A first limit block 13 is slidably connected, and a cross bar is welded on the side of the first limit block 13 away from the first limit groove 12. The side of the cross bar away from the first limit block 13 is welded to the inner wall of the transmission chamber 502. When the first threaded rod 11 rotates and moves along the thread groove, the first limit block 13 will slide in the first limit groove 12. Since the cross bar is welded to the inner wall of the transmission chamber 502, the position of the cross bar is fixed, which limits the first limit block 13 from sliding in the first limit groove 12, thereby limiting the rotation of the first threaded rod 11, so that the rotation of the first worm gear 10 can be determinedly converted into the relative up and down displacement of the first threaded rod 11 and the first turbine 10. Before driving, the operator places the syringe in the hollow of the first threaded rod 11. Since the vertical position of the first turbine 10 is fixed, the syringe can move up and down synchronously with the first threaded rod 11, simulating the descending process of the syringe piercing the body of the experimental object. Compared with the traditional transmission methods such as belts and chains, this design has a higher transmission ratio and stability, and improves the control accuracy of the injection depth. In addition, the design of the first limit block 13 can limit the moving distance of the first threaded rod 11, so that the first threaded rod 11 has a threshold of the maximum displacement distance, reducing the probability of the first threaded rod 11 falling out of the first turbine 10 due to excessive driving due to program errors, causing structural damage or transmission failure, and enhancing the stability and reliability of the entire transmission mechanism. At the same time, by controlling the opening and closing of the drive (rotation of the worm 8) through the control system, the device can realize the automatic completion of the process of piercing and deep and shallow positioning, reducing the problem of laborious manual driving, so that the experimenter has spare energy to control the actions of the experimental object during the process, and improving the success rate of experimental injection.

[0057] The bottom wall of the transmission cavity 502 is provided with a positioning hole 14 corresponding to the first threaded rod 11, and its main function is to accommodate the passage of the descending syringe and to visually locate the injection point. Specifically, when the first threaded rod 11 moves along the thread groove, its bottom will pass through the positioning hole 14 and will always be constrained and acted upon by the positioning hole 14 in the horizontal direction, thereby ensuring the stability of the first threaded rod 11 during movement and reducing the tilt and deviation during the injection process.

[0058] A depth sensor 15 is fixedly connected to the bottom of the first threaded rod 11 by bolts, and a receiving end of the depth sensor 15 is fused to the bottom wall of the transmission cavity 502. The depth sensor 15 is realized by measuring the relative position or distance between it and the receiving end. When the first threaded rod 11 moves, the depth sensor 15 will sense this movement and generate a corresponding signal output. The depth sensor 15 is connected to the control system signal. The data measured by the depth sensor 15 can be transmitted to the control system in real time. The control system determines the shutdown timing of the servo motor in real time based on these data, thereby realizing precise control of the descending position of the first threaded rod 11 and improving work efficiency and accuracy.

[0059] Combination Figure 3 and Figure 4 As shown, a fluid pushing assembly for displacement and pressing of fluid is provided above the first worm gear 10, and the fluid pushing assembly includes a second worm gear 16 rotatably connected to the inner wall of the transmission chamber 502, a second load-bearing plate is welded to the inner wall of the transmission chamber 502, and the bottom of the second load-bearing plate is rotatably connected to the second worm gear 16 through a bearing, and a hollow second threaded rod 17 is threadedly connected at the center of the second worm gear 16, and a second limit assembly for limiting the rotation of the second threaded rod 11 is provided on the outer wall of the second threaded rod 17, and the second limit assembly includes a The second limiting groove 18 is slidably connected with a second limiting block 19 fixedly connected to the inner wall of the transmission chamber 502, and the second threaded rod 17 is detachably connected with a liquid pusher 20. The second worm gear 16 is threadedly connected with a hollow second threaded rod 17 at the center. When the second turbine 16 is driven in meshing like the first turbine 10, the rotation of the second turbine 16 and the limiting action of the second limiting block 19 and the second limiting groove 18 can make the second threaded rod 17 move up and down relatively along the center of the second turbine. The liquid pusher 20 is used to be taken out in the preparation stage before driving, and provide a channel for placing the syringe to the first threaded rod 11. At the same time, the liquid pusher 20 is also used to plug after the placement is completed. When the second threaded rod 17 moves up and down relatively along the center of the second turbine, pressure is applied to the push rod part of the syringe, thereby realizing the function of pushing the liquid and realizing the automation of pushing the liquid, so that the structure has a wide range of applicability in various application scenarios.

[0060] A sliding groove 21 is provided in the driving cavity 501, and the supporting block 6 is vertically slidably connected in the sliding groove 21. The supporting block 6 is in close contact with the inner wall of the sliding groove 21 through a sliding bearing and can slide up and down in the sliding groove. An electric control cylinder 22 is fixedly connected to the outer bottom wall of the supporting block 6. When the electric control cylinder 22 receives a control signal, the vertical displacement drive of the output end of the electric control cylinder 22 drives the supporting block 6 to vertically displace, so that the worm 8 can also switch to engage with the second worm gear 16. By controlling the engagement of the worm 8 with the first worm gear 10 or the second worm gear 16 through the electric control cylinder 22, flexible transmission switching can be achieved as needed, so that the device can intelligently complete the two operations of insertion and injection, further reducing the opportunity of manual operation by the experimenter, improving the flexibility, adaptability and intelligence of the device, and realizing an automated injection process.

[0061] Embodiment 2:

[0062] As attached Figure 3 As shown, the difference from Example 1 is that a fixing layer 23 is fixedly connected inside the first threaded rod 11, and the fixing layer 23 is made of an elastic rubber material. The design of the fixing layer 23 can make the inner wall of the first threaded rod 11 fit tightly with the syringe, increase the fixing friction of the syringe inside the first threaded rod 11, thereby forming a stable structural whole, preventing the syringe from loosening during the injection process due to vibration, impact or other external factors.

[0063] Embodiment 3:

[0064] As attached Figure 3 As shown, the difference from Example 2 is that a laser instrument 24 close to the positioning hole 14 is fixedly connected to the outer bottom wall of the transmission cavity 502. The laser instrument 24 accurately locates the target point or area in the transmission cavity 502 by emitting a laser beam. The design of the laser instrument 24 can improve the positioning accuracy of the transmission cavity 502 and the target point, thereby ensuring the stability and reliability of the system.

[0065] Embodiment 4:

[0066] As attached Figure 6 As shown, the difference from Example 3 is that the control system includes a preset module, a pressure acquisition module, a positioning module, a driving module, a displacement acquisition module, an identification module and an adjustment module.

[0067] The preset module records the injection insertion depth and injection insertion site entered by the operator, and transmits the injection insertion depth and injection insertion site to the recognition module and the positioning module respectively.

[0068] The pressure collection module collects the different forces on the card block 302 caused by the different body sizes of the experimental animals through the first pressure sensor 303, collects the weight data of the experimental animals through the second pressure sensor 304, and transmits the pressure data to the positioning module for processing.

[0069] The positioning module first converts and calculates the girth corresponding to the position of each first pressure sensor 303 based on the pressure data collected by the first pressure sensors 303, calculates the body size and body model of the experimental animal based on the comprehensive conversion of each girth data, simulates the binding posture of the experimental animal according to different girths, and then converts the insertion site collected by the preset module into coordinate information according to the body model and transmits it to the driving module.

[0070] Then, combined with the weight data of the experimental animal collected by the second pressure sensor 304, for example, when an experimental animal with a large body weight appears, a signal of "the insertion depth needs to be increased" (the experimental animal has thicker subcutaneous fat) is transmitted to the recognition module to assist in more accurate insertion depth positioning.

[0071] The driving module drives and controls the start and stop of the servo motor, which is controlled by the signal of the identification module, and controls the driving of the electric slide rail according to the coordinate information to move the positioning platform 4 to the corresponding position.

[0072] The displacement acquisition module acquires the downward displacement distance of the first threaded rod 11 through the depth sensor 15 and transmits the displacement distance to the recognition module.

[0073] The identification module is used to identify and compare the downward displacement distance with the injection penetration depth recorded by the preset module. When the downward displacement distance is equal to the injection penetration depth recorded by the preset module, a signal is first transmitted to the drive module to stop the drive of the servo motor, and then a signal is transmitted to the adjustment module to control the electric control cylinder 22 to start lifting the bearing block 6. After lifting, the adjustment module transmits a signal to the drive module to restart the operation of the servo motor.

[0074] The regulating module drives and controls the start and stop of the electric control cylinder 22 according to the information transmitted by the identifying module.

[0075] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A precise positioning injection device for an experimental animal tumor model, comprising an injection platform (1), on which is slidably connected an amplifying component (2) for magnifying, observing and positioning, characterized in that: A plurality of binding detection components (3) for binding and stabilizing experimental animals and detecting the vital signs of experimental animals are fixedly connected to the injection platform (1). An electric slide rail is provided on the injection platform (1). A positioning platform (4) is slidably connected to the electric slide rail. A positioning box (5) is fixedly connected to the positioning platform (4). The positioning box (5) includes a driving chamber (501) and a transmission chamber (502). A driving wheel assembly for meshing transmission is slidably connected in the driving chamber (501). A first worm gear (10) is rotatably connected in the transmission chamber (502). A fluid pushing assembly for displacement, pressing and pushing fluid is provided above the first worm gear (10). The first worm gear (10) and the driving wheel assembly can mesh. A hollow first threaded rod (11) is threadedly connected at the center of the first worm gear (10). The outer wall of the first threaded rod (11) is provided with a A first limit assembly for limiting the rotation of the first threaded rod (11) is provided on the inner bottom wall of the transmission cavity (502) with a positioning hole (14) corresponding to the first threaded rod (11); a depth sensor (15) is fixedly connected to the bottom of the first threaded rod (11); a receiving end of the depth sensor (15) is fixedly connected to the inner bottom wall of the transmission cavity (502); and a signal of the depth sensor (15) is connected to a control system for controlling the start and stop of the driving wheel assembly according to the depth data collected by the depth sensor (15).

2. The precise positioning injection device for experimental animal tumor models according to claim 1, characterized in that: The binding detection components (3) each comprise an elastic binding strap (301), an adjustment buckle is sleeved on the binding strap (301), one end of the binding strap (301) is fixedly connected to one side of the surface of the injection platform (1), the other end of the binding strap (301) is fixedly connected to a card block (302), the card block (302) is embedded in the surface of the injection platform (1), the top of the card block (302) is fixedly connected to a first pressure sensor (303), the surface of the injection platform (1) is fixedly connected to a second pressure sensor (304), and both the first pressure sensor (303) and the second pressure sensor (304) are connected to a control system signal.

3. The precise positioning injection device for experimental animal tumor models according to claim 2, characterized in that: The driving wheel assembly comprises a hollow bearing block (6), a hollow rotating drum (7) is fixedly connected to the inner wall of one side of the bearing block (6), a worm (8) is rotatably connected to the side of the rotating drum (7) away from the inner wall of the bearing block (6), a driving assembly (9) for driving the worm (8) to rotate is fixedly connected inside the rotating drum (7), the driving assembly (9) is connected to a control system signal, and one side of the worm (8) is meshable with a first worm wheel (10).

4. The precise positioning injection device for experimental animal tumor models according to claim 3, characterized in that: The liquid pushing component includes a second worm gear (16) rotatably connected to the inner wall of the transmission chamber (502); a hollow second threaded rod (17) is threadedly connected to the center of the second worm gear (16); a second limit assembly for limiting the rotation of the first threaded rod (11) is provided on the outer wall of the second threaded rod (17); and a liquid pushing plug (20) is detachably connected to the inside of the second threaded rod (17).

5. The precise positioning injection device for experimental animal tumor models according to claim 4, characterized in that: A slide groove is provided in the driving cavity (501), the bearing block (6) is vertically slidably connected in the slide groove, the bottom of the bearing block (6) is fixedly connected to an electric control cylinder (22), the output shaft of the electric control cylinder (22) is fixedly connected to the outer bottom wall of the bearing block (6), and the second worm gear (16) is located in the moving track of the worm (8) and can mesh with the worm (8).

6. The precise positioning injection device for experimental animal tumor models according to claim 5, characterized in that: A fixing layer (23) is fixedly connected inside the first threaded rod (11).

7. The precise positioning injection device for experimental animal tumor models according to claim 6, characterized in that: The first limiting assembly includes a first limiting groove (12) vertically formed on the outer wall of the first threaded rod (11), and a first limiting block (13) fixedly connected to the inner wall of the transmission chamber (502) is slidably connected in the first limiting groove (12). The second limiting assembly includes a second limiting groove (18) vertically formed on the outer wall of the second threaded rod (17), and a second limiting block (19) fixedly connected to the inner wall of the transmission chamber (502) is slidably connected in the second limiting groove (18).

8. The precise positioning injection device for experimental animal tumor models according to claim 7, characterized in that: The outer bottom wall of the transmission cavity (502) is fixedly connected with a laser instrument (24) close to the positioning hole (14).

9. The precise positioning injection device for experimental animal tumor models according to claim 8, characterized in that: The control system includes a preset module, a pressure acquisition module, a positioning module, a driving module, a displacement acquisition module, an identification module and an adjustment module; A preset module for recording the injection insertion depth and injection insertion site entered by the operator; A pressure collection module, used to collect the weight of the experimental animal and the pressure data of the strap (301) through a first pressure sensor (303) and a second pressure sensor (304); A positioning module, used for converting and calculating a body model of the experimental animal based on the pressure data of the plurality of straps (301) collected by the plurality of first pressure sensors (303), and then transmitting a driving signal and the calculation data to the driving module and the identification module respectively; A drive module, used for driving and controlling the start and stop of the drive assembly (9) and the electric slide rail; A displacement acquisition module, used for acquiring the downward displacement distance of the first threaded rod (11) through a depth sensor (15); An identification module, used for identifying and comparing the downward displacement distance of the first threaded rod (11) with the injection penetration depth recorded by the preset module, and transmitting the compared information to the driving module and the regulating module respectively; The regulating module is used to drive and control the start and stop of the electric control cylinder (22) according to the information transmitted by the identification module.

10. The precise positioning injection device for experimental animal tumor models according to claim 9, characterized in that: In the identification module, when the downward displacement distance is equal to the injection penetration depth recorded by the preset module, a signal is first transmitted to the driving module to stop the driving of the driving component (9), and then a signal is transmitted to the adjustment module to control the electric control cylinder (22) to start lifting the bearing block (6). After lifting, the adjustment module transmits a signal to the driving module to restart the operation of the driving component (9).

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