Processing unit, experimental operation device and interactive terminal

Abstract

The present invention relates to a processing unit, an experimental operation device, and an interactive terminal. The processing unit is used to evaluate the neurological behavior of experimental animals after stem cell transplantation. The processing unit can control a robotic arm and an image acquisition unit. The processing unit is configured to: when an experimental animal enters a designated activity area, control the robotic arm to generate an operation mode corresponding to the designated activity area to grab a designated part of the experimental animal, and judge the behavior and / or behavior trajectory of the experimental animal based on image data of the experimental animal sent by the image acquisition unit; the processing unit controls the image acquisition unit to acquire a close-up image or a long-range image corresponding to the designated activity area of the experimental animal, and in response to an experimenter's selection on the two-dimensional image, control the image acquisition unit to generate an image displayed in two-dimensional and three-dimensional modes in parallel on the interactive terminal. The present invention can provide the experimenter with an observation area prompt to avoid confusion in the observation position.

Description

[0001] The original basis of this divisional application is the Chinese patent application with application number (202310211940.4), application date of March 7, 2023, and invention name “An experimental system based on stem cell transplantation”. Technical Field

[0002] The present invention relates to the field of biotechnology, and in particular to a processing unit, an experimental operation device and an interactive terminal. Background Art

[0003] Human hematopoietic stem cells, derived from the mesothelial cells of the embryonic yolk sac, are the most unique somatic cell population in the human body. Like pluripotent stem cells (APSCs), they are primitive cells with the potential for self-replication and multidirectional differentiation, and they are the fundamental driving force for life. Multifunctional activated cell anti-aging therapy utilizes autologous tissue cells, which are isolated and cultured in the laboratory. The proliferated stem cells are then injected back into the body. Through their self-targeting ability, the multifunctional activated cells precisely reach damaged organs and tissues, repairing aging and diseased cells and rebuilding functioning cells and tissues.

[0004] Stem cell transplants are divided into at least bone marrow stem cell transplants, peripheral blood hematopoietic stem cell transplants, and umbilical cord blood hematopoietic stem cell transplants. Drugs used for different diseases requiring stem cell transplants are administered to disease model experimental animals and to experimental animals after stem cell transplantation during the animal pharmacology testing phase. Based on the behavioral performance of experimental animals at different stages of the disease, researchers can confirm the efficacy of the drug, which is crucial for determining the efficacy of the drug.

[0005] In existing technologies, behavioral assessment of experimental animals relies primarily on manual and equipment planning. Manual planning involves manually manipulating the animals, such as lifting their tails or driving them, according to the specific behavioral experimental requirements, and then subjectively assessing the animals' behavior based on a score.

[0006] Equipment planning is the process of experimental personnel developing behaviors of fixed experimental animals based on experimental equipment, and by unifying the behaviors of experimental animals, the errors caused by visual observation of experimental animal behaviors are reduced. The Chinese patent with publication number CN113314011B discloses a multifunctional experimental device for the neurobehavioral assessment of small animals, comprising: an experimental cavity shell, a shock-absorbing moving mechanism installed at the lower end of the shell, a breathable mesh for ventilation installed inside the inner cavity shell, and an additional experimental platform mechanism placed inside the inner cavity shell is provided on the inner side of the breathable mesh, the additional experimental platform mechanism includes a connecting rod, an experimental table and fixing bolts, a fixing bolt is fixed on the inner side of the connecting rod, and an excrement leakage net installed in the experimental cavity shell is provided on the lower side of the inner cavity shell. This device limits the travel route of experimental animals, reduces the impact of vibration on the internal environment of the device being tested, and increases the accuracy of the verification results of the controlled variable method.

[0007] Compared with merely planning the behavior of experimental animals, the Chinese patent with publication number CN114420297A provides a neurological function assessment and training system for experimental rat models of central nervous system diseases, which belongs to the field of medical tracking and evaluation technology. The system includes three major parts: an assessment system, a training system, and a scoring system. The assessment system includes: motor function, sensory function, and brain cognitive function. The training system includes: motor function training, sensory function training, and brain cognitive function training. The scoring system designs a scoring table based on reliability and validity evaluation, and uses the scoring table to calculate each score and the total score. The feature of the present invention is that it can provide a relatively comprehensive assessment of the functional disorders of rat models of central nervous system diseases. On the one hand, the assessment items and design of the system are not suitable for monitoring the behavior of experimental animals before and after stem cell transplantation; on the other hand, the system only limits animal behavior and reduces data errors caused by naked eye observation by quantifying animal behavior into various numerical values.

[0008] However, in actual experimental processes, the experimenter's naked eye observation will be affected by the environment, observation time and memory bias, resulting in cognitive bias for the different behaviors of different experimental animals, thereby leading to errors in the evaluation of animal behavior scores. Based on this, the present invention provides an experimental system based on stem cell transplantation.

[0009] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the Invention

[0010] Before and after the experiment, experimental animals need to undergo cerebral hemorrhage model establishment and post-transplantation behavioral analysis. Behavioral analysis at different stages has an important impact on both horizontal and vertical data comparisons. In the horizontal comparison process, the behavior of experimental animals in the normal stage is used as a benchmark, and the data at a certain stage can be used to determine whether the experimental operation at that stage is successful, for example, whether the modeling of experimental animals is successful. In the longitudinal comparison process, comparing the behavior at different stages can be used to confirm the effectiveness of experimental operations or administered substances. Therefore, the collection of animal behavior data in animal behavior analysis has an important impact on the correctness of the results.

[0011] In existing technologies, animal behavior data is often observed visually and converted into evaluation scores based on the subjective judgment of the experimenter. Due to the subjective bias of the human body, the recorded data is likely to contain significant errors. With the demand for precise calibration of experimental data, the number of devices designed to analyze animal behavior has increased, but the corresponding animal behavior data collection still relies on the experimenter.

[0012] To address the above-mentioned issues, the present invention provides an experimental system based on stem cell transplantation. The system may include an animal subject behavior detection unit and a processing unit. Based on the behavioral analysis requirements of the animal model with cerebral hemorrhage before the experiment and the animal model with stem cell transplantation after the experiment, the animal subject behavior detection unit is equipped with at least two detection units: image information acquisition and electromyographic signal acquisition. The configuration of at least two detection units enables the collection of movement data, sensory data, and balance beam data from the animal model. Furthermore, the processing unit analyzes the data collected from mice treated differently under the same environment, thereby enabling the evaluation criteria of relevant animal experiments to avoid analytical errors caused by manual judgment.

[0013] The experimental system includes an experimental operation unit, a data acquisition unit and a processing unit.

[0014] The data acquisition unit includes an image acquisition component and an electromyographic signal acquisition component.

[0015] The experimental operation unit includes a motion base for guiding the experimental animals to produce detection behavior, a movable mechanical arm, an auricle reflex detection component, a sound reflex detection component and a corneal reflex detection component.

[0016] The robot arm can lift part of the experimental animal's limbs and perform operations such as turning, moving or suspending the experimental animal. The experimental operation unit can place the experimental animal at the positioned position based on the positioning sent by the processing unit.

[0017] The first direction is the direction of mouse movement. The second direction is a direction perpendicular to the first direction in the plane of the movement base. The movement base is provided with at least one movement column along the second direction, each movement column being capable of accommodating a single experimental animal and enabling the experimental animal to move along the first direction.

[0018] The moving base plate is provided with at least four moving areas in the first direction, wherein:

[0019] The first activity area is the experimental animal's limb motor sensation detection area. The second activity area is the experimental animal's reflex detection area. The third activity area is the experimental animal's planar motion detection area. The fourth activity area is the experimental animal's balance detection area. The motion base is provided with at least two motion columns along the second direction, and each motion column is provided with a robotic arm, an auricle reflex detection component, a corneal reflex detection component, and a sound reflex detection component at the same position along the first direction. The dependent processing unit coordinates animal behavior planning and animal behavior collection, so that the control variables of the animal neurological behavior detection remain unique.

[0020] The first direction is radial, i.e., the direction in which a single experimental animal moves. The second direction is transverse, i.e., the direction in which multiple experimental animals are tested in parallel.

[0021] Advantages of this technical solution: In the prior art, the study of neurological activity and behavior in experimental animals is mainly based on artificial induction of experimental animals, and the testing methods for experimental animals are based on subjective conditions. For experimental animals, especially those undergoing physiological changes, each behavioral test will have a physiological or psychological impact on them. The present invention plans the order and types of test items for experimental animals based on experimental animals after stem cell transplantation, and reduces the impact of each test on the experimental animals, thereby reducing interference between tests.

[0022] Each movement column of the movement base is provided with a mechanical arm in the first movement area. The mechanical arm can at least grab the tail, head or forelimb of the experimental animal.

[0023] Each movement column of the motion baseplate is sequentially provided with an auricle reflex detection component, a corneal reflex detection component, and an acoustic reflex detection component in the second active area. The auricle reflex detection component is capable of contacting the external auditory canal of the experimental animal when the experimental animal enters the detection range. The corneal reflex detection component is capable of contacting the cornea of the experimental animal when the experimental animal enters the detection range. The acoustic reflex detection component is capable of emitting a preset audio frequency when the experimental animal enters the detection range.

[0024] Each moving column of the moving base is provided with an image acquisition unit at the end of the fourth active area. The image acquisition unit is capable of capturing images of the behavior of the experimental animals in the moving column. The end of the moving base is provided with an image acquisition unit capable of capturing images of the experimental animals in part or all of the area of the moving base, wherein the data acquisition type of the image acquisition unit includes the behavior of the experimental animals and the travel routes of the experimental animals, and the data is used to provide a basis for the processing unit to evaluate the behavior of the experimental animals. Preferably, each moving column of the moving base is provided with a corresponding image acquisition unit that captures images of the entire area of the moving column.

[0025] Mice, rats, and rabbits are the most commonly used animal species in stem cell transplantation research. Due to their small size and the long fur of rabbits, subtle reactions in their extremities cannot be observed with the naked eye during animal experiments. Even if these reactions can be mechanically recorded, the final statistical analysis still requires human observation of changes in the extremities.

[0026] This system uses image recording to observe changes in the limbs of experimental animals. After image recording, the system can provide the experimenter with a two-dimensional image of the experimental animal in response to the experimenter's instructions on the interactive terminal. Based on the experimenter's selections on the two-dimensional image, it generates two-dimensional and three-dimensional images for display on the interactive terminal in parallel. For example, the two-dimensional image can show the movement of the mouse in the second activity area. The three-dimensional image can also show the movement of the mouse's left limb in the second activity area.

[0027] In response to a depth of field region associated with a limb of an experimental animal specified by an experimenter in a two-dimensional view, the image acquisition unit can transmit data of a three-dimensional image located within the depth of field region associated with the limb of the experimental animal to a processing unit. Based on this method, a three-dimensional image of a specific limb part of the experimental animal, such as a paw, can be displayed in a clear manner, while the three-dimensional image can display a three-dimensional image of a device located outside the depth of field region in an unsharp manner.

[0028] When the experimenter views a 3D image within their designated depth of field, the image's clarity is higher than that outside the designated depth of field. When the experimenter reaches the edge of the depth of field, the 3D image within the edge remains high-definition, while the clarity outside the edge decreases. This indicates to the experimenter that the content they are viewing is outside the depth of field, allowing them to re-plan their viewing area and avoid viewing without a clear target.

[0029] This method helps experimenters focus on the desired behavior of the experimental animal in their designated activity zone, without being distracted by other behaviors. For example, in the second activity zone, the focus is on observing whether the mouse's paws clench, rather than its head movements. By observing the 3D image, this can be avoided, preventing distractions from the head's movements.

[0030] At the same time, when the experimenter observes the bending behavior of the first finger on the mouse's paw, there is a possibility that the second finger is mistakenly identified as the first finger. The method provided by the present invention can provide the experimenter with an observation area prompt to avoid confusion in the observation position.

[0031] According to a preferred embodiment, the edge of the depth of field area can be set based on the operating area of the robotic arm. The display direction of the three-dimensional or two-dimensional image can be adjusted based on the operator's operating direction, so that the image perspective is always presented in a way that allows the operator to operate the robotic arm optimally. This high-definition three-dimensional image edge segmentation method can use the edge of the robotic arm as a segmentation outline to guide the operator's vision or attention to the viewing area defined by the robotic arm.

[0032] The robotic arm is configured with at least three positions: a first position for gripping the experimental animal, a second position for adjusting the gripping posture, and a third position for adjusting the movement of the robotic arm. Preferably, the first position can be the distal end of the robotic arm's claw. The second position can be the proximal end of the robotic arm's claw. The third position can be the forearm of the robotic arm.

[0033] Specifically, when the experimental animal is in the first activity area, the processing unit can control the robotic arm to generate a corresponding operating mode, and use the first and second positions of the robotic arm as calibration lines, dividing the area demarcated by the first and second positions into the depth of field area, and dividing the area outside the area demarcated by the first and second positions into the outside depth of field area. When the experimenter independently selects the depth of field area, the processing unit can provide the experimenter with a prompt of the depth of field area with an edge based on the calibrated depth of field area. When the experimental animal is in the first activity area, the robotic arm needs to control the experimental animal's head, tail, and body, and generate a three-dimensional image that the experimenter needs to observe based on the experimental animal's body reflective state. When the experimental animal is large, such as a rabbit or rat, although only the first position of the robotic arm controls the experimental animal's head, in order to be able to observe the angle between the experimental animal's head and body, the area corresponding to the second position of the robotic arm still needs to be visible. In this operating mode, the robotic arm can position the experimental animal's head based on the angle between the head and body of the suspended experimental animal that needs to be observed, and suspend the experimental animal to a height α. Preferably, α is greater than 2 cm.

[0034] When the experimental animal is in the second activity area, the processing unit can control the robotic arm to generate a corresponding operation mode, and use the first position of the robotic arm as a calibration line, divide the area demarcated by the first position into a depth of field area, and divide the area outside the area demarcated by the first position into an area outside the depth of field area. When the experimental animal is in the second activity area, since it is only necessary to observe the state of the conditioned reflex of a certain organ of the experimental animal, it is only necessary to observe the position of a certain organ of the experimental animal touched by the robotic arm. For example, when the robotic arm touches the auricle of the experimental animal and it is necessary to observe the auricle reflection of the experimental animal, the depth of field area only needs to locate the auricle of the experimental animal. On the one hand, since the experimental animal may be in a state of long-term movement, continuously shooting images of its auricle state will generate a large amount of garbage data, and the processing unit also needs to filter the image data of the auricle reflection from a large amount of data; on the other hand, the auricle reflection occurs in a very short time when the robotic arm touches the auricle of the experimental animal. If the auricle of the experimental animal is located based on the working state of the robotic arm, it may cause the loss of the image that needs to be shot.

[0035] Based on the gripping motion of the robotic arm, the image of the robotic arm during gripping is segmented into 3D image clarity, effectively selecting the area of the desired high-definition 3D image. Since the robotic arm's operating area is often the key part of the experimental animal that needs to be observed and tested, focusing on the actual operating area of the robotic arm and performing image segmentation can effectively obtain the behavioral images of the experimental animal that the experimenter needs to observe and test.

[0036] Based on the edge of the area set by the robotic arm, since the experimental animal is always within the robotic arm's operating area, the system can eliminate the need for secondary recognition to confirm the accuracy of the image information to be captured or collected. Reducing the system's information collection and recognition process can reduce the system's response time or data processing time. At the same time, in changing experimental environments, the robotic arm can also serve as a positioning base point, allowing the system to always use the correct positioning base point to promptly obtain reaction information related to the experimental animal's physiological state or reaction state. The system can promptly and accurately obtain images of the experimental animal's physiological state or reaction state.

[0037] According to a preferred embodiment, different activity areas are provided with corresponding sensors, and the sensors can be triggered when the experimental animal enters the corresponding activity area, and the processing unit adjusts the image acquisition position and type of the image acquisition unit based on the sensor being triggered. The image acquisition position can be divided into a first image acquisition area covering the first activity area, a second image acquisition area covering the second activity area, a third image acquisition area covering the third activity area, and a fourth image acquisition area covering the fourth activity area based on different activity areas. The image acquisition types include close-up images for collecting behavioral information of experimental animals and long-range images for collecting position information of experimental animals. Preferably, the close-up images can be used to collect dynamic changes in the limbs or part of the tissue of the experimental animal. The long-range images can be used to collect the position changes of the experimental animal in different activity areas to confirm the walking route of the experimental animal. The walking route of the experimental animal includes at least four types: normal walking, non-straight walking, circling to the paralyzed side, and tilting to the paralyzed side.

[0038] The third active area of each moving column of the moving base can be set as a flat straight channel. The third active area of the moving base used to provide plane motion detection for experimental animals is set as a linear plane.

[0039] The fourth activity area of each movement column of the movement base is provided with a balance bar, one end of which is connected to the end of the third activity area so that experimental animals passing through the third activity area can be driven or lured to move to the balance bar. Preferably, the balance bar is configured as a retractable balance bar so that the fourth activity area is suitable for experimental animals of different sizes.

[0040] The animal behavior scores before and after stem cell transplantation mainly include movement score, level ground walking, sensory test, balance beam test, reflex loss and abnormal movement.

[0041] According to a preferred embodiment, the experimental system involved in the present invention is suitable for bone marrow mesenchymal stem cell transplantation and umbilical cord mesenchymal stem cell transplantation.

[0042] According to a preferred embodiment, the experimental animals involved in the present invention can be rats, mice, rabbits and other animals suitable for stem cell transplantation experiments.

[0043] The present invention provides an experimental system based on stem cell transplantation, which comprises an experimental operation unit for guiding experimental animals to produce detectable behaviors, a data acquisition unit for collecting images and electromyographic signals of experimental animals, and a processing unit for evaluating the neurological behavior of experimental animals. The experimental operation unit is provided with a first activity area for providing limb motor sensation detection for experimental animals, such as Figure 1As shown, when the experimental animal enters the first activity area, the processing unit can control the experimental operation unit to grab the tail, head and torso of the experimental animal in turn, and the data acquisition unit can switch data acquisition when the experimental operation unit grabs different parts of the experimental animal. When the experimental operation unit grabs the tail of the experimental animal, the data acquisition unit can capture images of the experimental animal. When the experimental operation unit grabs the head or torso of the experimental animal, the data acquisition unit can collect electromyographic signals of the experimental animal to obtain data on different behavioral states of the experimental animal, so that the processing unit can obtain data on the behavioral states of different experimental animals under different influencing factors. The processing unit performs a 0 / 1 evaluation on the corresponding behaviors of different experimental animals based on the mean of different data of the same behavior of all experimental animals.

[0044] According to a preferred embodiment, the electromyographic signal is used to sense whether a delay occurs in the limb muscles of the experimental animal when it is subjected to different stimuli.

[0045] According to a preferred embodiment, each active area and each active column of the motion base is provided with a partition. Preferably, the partitions between each active area can be closed upon completion of the test item for that area, allowing the experimental animal to move to the next area. The partitions are controlled by the processing unit. Once the processing unit obtains the image data or electromyographic signal data required for that area, it controls the partitions to close.

[0046] Sensory experiments assess the sensory function of experimental animals by measuring muscle reaction speed. When stimulated, the animal's muscle reflex is delayed to determine its speed of perception. Because experimental animals are generally small and easily startled, directly recording their electromyographic signals to assess reaction speed is more accurate than observing dynamic changes in their limbs.

[0047] When the experimental animals enter the second activity area, Figure 2 As shown, the processing unit controls the image acquisition unit to capture close-up images of the experimental animal. At the same time, the processing unit can control the auricle reflex detection component to start working based on the experimental animal entering the second activity area. The processing unit can control the auricle reflex detection component to touch the auricle of the experimental animal based on the position of the auricle of the experimental animal captured by the image acquisition unit. The image acquisition unit captures the image of the experimental animal and sends the image data to the processing unit. The processing unit determines whether the experimental animal has a head shaking reaction. Preferably, the experimental animal shaking its head is recorded as 0, and no head shaking reaction is recorded as 1.

[0048] Based on the movement of the experimental animal, when the experimental animal enters the detection area of the corneal reflection detection component, the processing unit controls the corneal reflection detection component to touch the experimental animal's cornea. The image acquisition unit captures an image of the experimental animal and transmits the image data to the processing unit. The processing unit determines whether the experimental animal blinks. Preferably, blinking is scored as 0, and no blinking is scored as 1.

[0049] Based on the movement of the experimental animal, when the experimental animal enters the detection area of the sound reflection detection component, the processing unit controls the sound reflection detection component to emit a preset noise. The image acquisition unit captures an image of the experimental animal and transmits the image data to the processing unit. The processing unit determines whether the experimental animal has made an escape movement. Preferably, the occurrence of an escape movement response by the experimental animal is scored as 0, and the absence of an escape movement response is scored as 1.

[0050] When the experimental animals enter the third activity area, Figure 3 As shown, the processing unit can control the image acquisition unit to capture a distant image of the experimental animal based on the experimental animal entering the third activity zone. The processing unit receives the distant image of the experimental animal transmitted by the image acquisition unit to confirm the displacement trajectory of the experimental animal. Based on the extension direction of the third activity zone, the processing unit determines whether the displacement trajectory of the experimental animal has deviated and the type of deviated trajectory.

[0051] When the experimental animals enter the fourth activity area, Figure 3 As shown, the processing unit controls the image acquisition unit to capture close-up images of the experimental animal. Based on the experimental animal's posture and the time it stays on the balance pole, the processing unit classifies the experimental animal's performance on the balance pole and provides a corresponding evaluation score based on its category. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of an embodiment provided by the present invention;

[0053] Figure 2 is a schematic structural diagram of the second active area provided by the present invention;

[0054] Figure 3 It is a schematic structural diagram of the third active area and the fourth active area provided by the present invention.

[0055] Reference Signs List

[0056] 100: First active area; 110: Robotic arm; 200: Second active area; 210: Auricle reflex detection component; 220: Corneal reflex detection component; 230: Sound reflex detection component; 300: Third active area; 310: Image acquisition unit; 400: Fourth active area; 410: Balance bar; 500: Moving column; 600: First direction; 700: Second direction; 800: Moving base plate. DETAILED DESCRIPTION

[0057] The following is a detailed description with reference to the accompanying drawings. Example 1

[0058] The present invention relates to a system for tail-lifting experiments. The present invention relates to a system for sensory experiments.

[0059] The system of the present invention is suitable for use in rats.

[0060] Method for establishing a rat intracerebral hemorrhage model: Rats were anesthetized with an intraperitoneal injection of 0.3% pentobarbital (0.1 ml / 100 g) and fixed in a stereotaxic apparatus. The caudate nucleus injection point was located 0.1 mm anterior to the bregma, 3.0 mm to the right of the sagittal suture, and 5.5 mm deep. The scalp was incised midway through the head after routine disinfection to expose the bregma. The localizer was adjusted to the injection point and marked. A bone drill was used to drill a hole. 2 μl of type IV collagenase was drawn up with a microinjector and injected into the injection site for at least 5 minutes. The needle was retained for 10 minutes after injection. The hole was sealed with bone wax, and the skin was topically disinfected with iodine before suture.

[0061] Method for establishing a rat model of cerebral hemorrhage after umbilical cord mesenchymal stem cell transplantation: 6 hours after the successful preparation of the cerebral hemorrhage model, the rat was anesthetized again, re-fixed on the stereotaxic apparatus, the skin was disinfected, the sutures were cut, and the anterior bregma was exposed again. Under sterile conditions, the transplantation site of the rat was located, and 2 μl of HUC-MSCs suspension was slowly injected into the injured side of the rat using a microinjector at a speed of 1 μl / min. The needle was removed after leaving it in place for 30 minutes, the wound was sealed with bone wax, the skin was disinfected and sutured, and the rat was returned to the breeding room for routine feeding.

[0062] The exercise base 800 is configured with six exercise rows 500. Two rows 500 house two normal rats, labeled a and b. Two rows 500 house two rats with a cerebral hemorrhage model, labeled c and d. Two rows 500 house two rats with a cerebral hemorrhage model after umbilical cord mesenchymal stem cell transplantation, labeled e and f. Six rats are placed in the first activity area 100 of each row 500 of the exercise base 800 in the order a, c, e, b, d, and f.

[0063] Each movement column 500 of the movement base 800 is provided with a robotic arm 110 in the first movement area 100. The robotic arm 110 can at least grasp the tail, head or forelimbs of the rat.

[0064] When the rat enters the first activity area 100, the processing unit can control the experimental operation unit to grab the rat's tail, head and torso in turn, and the data acquisition unit can switch data acquisition when the experimental operation unit grabs different parts of the rat. When the experimental operation unit grabs the rat's tail, the image acquisition unit 310 can capture images of the rat. When the experimental operation unit grabs the rat's head or torso, the data acquisition unit can collect electromyographic signals of the rat to obtain data on different behavioral states of the rat, so that the processing unit can obtain data on the behavioral states of different rats under different influencing factors. The processing unit performs a 0 / 1 evaluation on the corresponding behaviors of different rats based on the mean of different data of the same behavior of all rats.

[0065] Specifically, when a rat enters the first activity area 100, the processing unit controls the mechanical arm 110 provided in each activity column to grab the rat's tail and suspend the rat by its tail one meter in the air. The image acquisition unit 310 acquires a close-up image of the rat.

[0066] Based on the received image information of the rat, the processing unit determines the angle between the rat's head and body. If the head and body are perpendicular to each other without any angle or the angle is ≤10°, and the limbs are extended toward the ground, the processing unit assigns an evaluation score of 0. If the head and body are perpendicular to each other with a deviation of more than 10°, or if the forelimbs or hindlimbs are flexed, the processing unit assigns an evaluation score of 1. This test is a visual test for rats.

[0067] Based on the obtained image data related to the rat lifting its tail, the processing unit controls the mechanical arm 110 of the corresponding motion column 500 to grab the rat's front paw, and slowly tilt it 45° from 10 cm above the table to the table so that the table is located in front of the rat or on the paralyzed side. The processing unit confirms the rat's limb movements based on the received rat's limb electromyographic signals. When the change time of the rat's forelimb electromyographic signals is less than 1s, the evaluation score given by the processing unit is 0. When the change time of the rat's forelimb electromyographic signals is greater than 1s, the evaluation score given by the processing unit is 1. This test is a tactile experiment on rats. Example 2

[0068] The present invention relates to a system for reflex experiments.

[0069] This system is suitable for rats.

[0070] The motion base 800 is configured with six motion columns 500. Two normal rats, labeled a and b, are placed in two motion columns 500. Two cerebral hemorrhage model rats, labeled c and d, are placed in two motion columns 500. Two cerebral hemorrhage model rats, labeled e and f, are placed in two motion columns 500 after umbilical cord mesenchymal stem cell transplantation. Six rats are placed in the first activity area 100 of each motion column 500 of the motion base 800 in the order of a, c, e, b, d, and f. After all testing processes in the first activity area 100 are completed, the second activity area 200 is opened.

[0071] When the rat enters the second activity area 200, the processing unit controls the image acquisition unit 310 to capture a close-up image of the rat. Simultaneously, the processing unit can control the auricle reflex detection component 210 to start operating based on the rat entering the second activity area 200. The robotic arm 110 is adapted to operate in the second activity area 200.

[0072] Based on the position of the rat's auricle captured by the image acquisition unit 310, the processing unit can control the robotic arm 110 to grasp the rat's torso and control the auricle reflex detection component 210 to touch the rat's auricle. The image acquisition unit 310 captures an image of the rat and transmits the image data to the processing unit. The processing unit determines whether the rat exhibits a head shake response. Preferably, a head shake response is scored as 0, and a lack of head shake response is scored as 1.

[0073] Based on the rat's movement, when the rat enters the detection area of the corneal reflection detection assembly 220, the processing unit controls the robotic arm 110 to grasp the rat's torso and controls the corneal reflection detection assembly 220 to touch the rat's cornea. The image acquisition unit 310 captures an image of the rat and sends the image data to the processing unit. The processing unit determines whether the rat blinks. Preferably, blinking is scored as 0, and no blinking is scored as 1.

[0074] Based on the rat's movement, when the rat enters the detection area of the sound reflection detection component 230, the processing unit controls the sound reflection detection component 230 to emit a preset noise. The image acquisition unit 310 captures an image of the rat and transmits the image data to the processing unit. The processing unit determines whether the rat has made an escape movement. Preferably, an escape movement response is scored as 0, and no escape movement response is scored as 1. Example 3

[0075] When a rat enters the third activity area 300, the processing unit can control the image acquisition unit 310 to capture a perspective image of the rat based on the rat's entry into the third activity area 300. The processing unit receives the perspective image of the rat transmitted by the image acquisition unit 310 to determine the rat's movement trajectory. Based on the extension direction of the third activity area 300, the processing unit determines whether the rat's movement trajectory has deviated and the type of deviation. Example 4

[0076] When the rat enters fourth activity area 400, the processing unit controls image acquisition unit 310 to capture close-up images of the rat. Based on the rat's posture and the time it remains on balance pole 410, the processing unit classifies the rat's performance on balance pole 410 and provides a corresponding evaluation score based on the rat's category.

[0077] According to the performance of the rats on the balance bar 410, the rats were divided into six categories, namely, the rat was stable on the balance bar 410 (0), the rat grasped the balance bar 410 (1), the rat held the balance bar 410 tightly with one limb hanging down (2), the rat held the balance bar 410 tightly with one limb hanging down for more than 60 seconds (3), the rat fell but remained on the balance bar 410 for more than 40 seconds (4), the rat fell but remained on the balance bar 410 for more than 20 seconds (5), and the rat fell directly (6). Example 5

[0078] The present invention provides a balance bar 410 device for detecting the balance ability of experimental animals.

[0079] The balancing pole 410 device includes a retractable balancing pole 410. The balancing pole 410 is hinged to the movable surface of the third movable area 300. An image acquisition unit 310 is provided at one end of the balancing pole 410 opposite the third movable area 300. Preferably, the image acquisition unit 310 is a camera that can transmit image information to the processing unit. Example 6

[0080] The image acquisition unit 310 includes a 3D scanner and a camera. The 3D scanner forms a 3D image of an animal model, such as a mouse, based on point cloud technology. The camera acquires 2D image information based on image acquisition.

[0081] The same animal model under inspection in the two-dimensional image and the three-dimensional image adopts the same encoding, which is beneficial to the synchronous display and conversion of the two-dimensional image and the three-dimensional image in the same animal model.

[0082] The method for obtaining three-dimensional data of an animal model includes the following steps:

[0083] Acquire the three-dimensional point cloud information of the animal model through a three-dimensional scanner, establish a three-dimensional Cartesian coordinate system with the three-dimensional scanner as the coordinate center, and calibrate the Cartesian coordinates of each point in the three-dimensional point cloud;

[0084] With the 3D scanner as the coordinate center, a 3D cylindrical coordinate system is established, and the conversion relationship between the Cartesian coordinates and cylindrical coordinates of each point in the 3D point cloud is established, and the 3D point cloud in the Cartesian space coordinate system is mapped to the cylindrical coordinate system;

[0085] The cylinder of the three-dimensional cylindrical coordinate system is unfolded to construct a two-dimensional cylindrical coordinate system, and a conversion relationship is established between the cylindrical coordinates of each point in the three-dimensional point cloud and the cylindrical coordinates of the two-dimensional cylindrical coordinate system. The three-dimensional point cloud in the cylindrical coordinate system is mapped to the two-dimensional cylindrical coordinate system to generate the two-dimensional pixel coordinates of the animal model.

[0086] The method for obtaining three-dimensional point cloud data of a measured object by a three-dimensional scanner comprises the following steps:

[0087] a light source for projecting a plurality of stripe patterns on the animal model, wherein the number of stripes in the stripe pattern is greater than 15;

[0088] Left and right cameras, used to synchronously capture 2D left and 2D right images of the animal model;

[0089] A three-dimensional module for synchronously acquiring depth maps of animal models;

[0090] A stripe matching module is used to match stripes between the left and right images based on the depth map, including back-projecting the depth map into the left and right images for matching;

[0091] The 3D reconstruction module is used to reconstruct the corresponding stripes in the left and right images into 3D point cloud data.

[0092] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation of the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", all of which indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept. Throughout the text, the features guided by "preferably" are only an optional method and should not be understood as having to be set, so the applicant reserves the right to abandon or delete the relevant preferred features at any time.

Claims

1. A processing unit, characterized in that: Used for evaluating the neurological behavior of experimental animals after stem cell transplantation, the processing unit is capable of controlling a mechanical arm (110) and a data acquisition unit, the data acquisition unit including an image acquisition unit (310) and an electromyographic signal acquisition component; the motion base plate (800) is provided with four active areas in a first direction (600); The processing unit is configured to: When the experimental animal enters the first activity area (100) for detecting the extremity motor sensation of the experimental animal, the robotic arm (110) is controlled to sequentially grasp the tail, head, and trunk of the experimental animal. When the robotic arm (110) grasps the tail of the experimental animal, the image acquisition unit (310) can acquire an image of the experimental animal. When the robotic arm (110) grasps the head or trunk of the experimental animal, the data acquisition unit can acquire electromyographic signals of the experimental animal to obtain data on different behavioral states of the experimental animal. The electromyographic signals are used to sense whether the extremity muscles of the experimental animal are delayed when receiving different stimuli. When the experimental animal enters the second active area (200) for detecting the experimental animal's reflexes, the auricle reflex detection component (210) is controlled to touch the auricle of the experimental animal based on the position of the auricle of the experimental animal acquired by the image acquisition unit (310), and the image acquisition unit (310) is received to acquire an image of the experimental animal, thereby determining whether the experimental animal has a head shaking reaction; when the experimental animal enters the detection area of the corneal reflex detection component, the corneal reflex detection component (220) is controlled to touch the cornea of the experimental animal, and the image acquisition unit (310) is received to acquire an image of the experimental animal, thereby determining whether the experimental animal has a blinking reaction; when the experimental animal enters the detection area of the sound reflex detection component, the sound reflex detection component (230) is controlled to emit a preset noise, and the image acquisition unit (310) is received to acquire an image of the experimental animal, thereby determining whether the experimental animal has an escape movement; When the experimental animal enters the first activity area (100), the processing unit controls the image acquisition unit (310) to acquire a close-up image of the experimental animal; when the experimental animal enters the second activity area (200), the processing unit controls the image acquisition unit (310) to acquire a close-up image of the experimental animal; when the experimental animal enters the third activity area (300) for plane detection of the experimental animal, the processing unit can control the image acquisition unit (310) to acquire a long-range image of the experimental animal based on the experimental animal entering the third activity area (300); when the experimental animal enters the fourth activity area (400) for balance detection of the experimental animal, the processing unit controls the image acquisition unit (310) to acquire a close-up image of the experimental animal; The apparatus provides a two-dimensional image of the experimental animal to the experimenter in response to the experimenter's operating instructions on the interaction terminal, and controls the image acquisition unit (310) to generate an image displayed in two-dimensional and three-dimensional manners in parallel on the interaction terminal based on the experimenter's selection on the two-dimensional image.

2. The processing unit according to claim 1, characterized in that The processing unit is further configured to: In response to a depth of field area related to the experimental animal's limbs specified by an experimenter in a two-dimensional image, data of a three-dimensional image located in the depth of field area related to the experimental animal's limbs and sent by the image acquisition unit (310) is received.

3. The processing unit according to claim 1 or 2, characterized in that The edge of the depth of field area can be set based on the operating area of the robot arm (110); The mechanical arm (110) is provided with at least three positions, including a first position for holding the experimental animal, a second position for adjusting the holding posture, and a third position for adjusting the movement of the mechanical arm (110); When the experimental animal is in the first activity area (100), the processing unit controls the robotic arm (110) to generate a corresponding operation mode, and uses the first position and the second position of the robotic arm (110) as calibration lines, divides the area defined by the first position and the second position into a depth of field area, and divides the area outside the area defined by the first position and the second position into an area outside the depth of field area.

4. The processing unit according to claim 3, characterized in that In a first activity area (100) for detecting limb movement sensation in an experimental animal, the processing unit uses the first position and the second position of the robotic arm (110) as a calibration line, and divides the area defined between the first position and the second position into a depth of field area; In the second activity area (200) for experimental animal reflex detection, the processing unit uses the first position of the robotic arm (110) as a calibration line, divides the area defined by the first position into a depth of field area, and divides the area outside the area defined by the first position into an area outside the depth of field area.

5. An experimental operation device capable of being connected to and controlled by the processing unit according to claim 1, characterized in that: The invention comprises a motion base plate (800) for guiding an experimental animal after stem cell transplantation to produce a detection behavior, a mechanical arm (110), an auricle reflex detection component (210), a corneal reflex detection component (220), and a sound reflex detection component (230); The motion base plate (800) is provided with at least two motion columns (500) along the second direction (700), and each motion column (500) is provided with a mechanical arm (110), an auricle reflection detection component (210), a corneal reflection detection component (220), and a sound reflection detection component (230) at the same position along the first direction (600). A partition is provided between each activity area of the movement base plate (800), and the partition can be closed based on the completion of the detection project of the activity area, so that the experimental animal can enter the next activity area; When the experimental animal enters the first activity area (100) for detecting the motor sensation of the experimental animal's extremities, the robotic arm (110) grabs the head or trunk of the experimental animal according to the operation mode corresponding to the first activity area (100), and the data acquisition unit can collect electromyographic signals of the experimental animal to obtain data on different behavioral states of the experimental animal. The electromyographic signals are used to sense whether the extremity muscles of the experimental animal are delayed when receiving different stimuli. When the experimental animal enters the second activity area (200) for experimental animal reflex detection, the robotic arm (110) is controlled to grab the trunk of the experimental animal based on the position of the auricle of the experimental animal captured by the image acquisition unit (310) and the auricle reflex detection component (210) is controlled to touch the auricle of the experimental animal to determine whether the experimental animal has a head shaking reaction; when the experimental animal enters the detection area of the corneal reflex detection component, the corneal reflex detection component (220) touches the cornea of the experimental animal to determine whether the experimental animal has a blinking reaction; when the experimental animal enters the detection area of the sound reflex detection component (230), the processing unit controls the sound reflex detection component (230) to emit a preset noise to determine whether the experimental animal has an escape movement.

6. The experimental operation device according to claim 5, characterized in that: The mechanical arm (110) is provided with at least three positions, including a first position for holding the experimental animal, a second position for adjusting the holding posture, and a third position for adjusting the movement of the mechanical arm (110); In a first activity area (100) for detecting limb movement sensation in an experimental animal, the first position and the second position of the robotic arm (110) serve as calibration lines for dividing an area defined between the first position and the second position into a depth of field area; In the second activity area (200) for experimental animal reflex detection, the first position of the robotic arm (110) serves as a calibration line for dividing the area defined by the first position into a depth of field area, and dividing the area outside the area defined by the first position into an area outside the depth of field area.

7. The experimental operation device according to claim 6, characterized in that: When the robotic arm (110) touches the auricle of the experimental animal and needs to observe the auricle reflection of the experimental animal, the depth of field area only needs to locate the auricle of the experimental animal.

8. An interactive terminal, characterized in that: In response to an operation instruction of an experimenter on an interactive terminal, the processing unit according to any one of claims 1 to 4 provides the experimenter with a two-dimensional image of the experimental animal after stem cell transplantation, and displays the image in two-dimensional and three-dimensional modes in parallel based on the experimenter's selection on the two-dimensional image; In response to a depth of field area related to the experimental animal's limb specified by an experimenter in a two-dimensional image, the image acquisition unit (310) can send data of a three-dimensional image located in the depth of field area related to the experimental animal's limb to the processing unit.

9. The interactive terminal according to claim 8, characterized in that: The same detected experimental animal in the two-dimensional image and the three-dimensional image adopts the same coding, which is conducive to the synchronous display and conversion of the two-dimensional image and the three-dimensional image in the same animal model.

10. The interactive terminal according to claim 8 or 9, characterized in that: The display direction of the three-dimensional image or the two-dimensional image is adjusted based on the operating direction of the experimenter, so that the viewing angle of the image is always given in a manner that enables the experimenter to operate the robotic arm (110) in the most suitable manner.

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