Carp robot brain electrode waterproof adapter and carrying device and using method thereof

Abstract

The invention discloses a carp robot brain electrode waterproof adapter and carrying device and a using method thereof, and belongs to the field of biological control, and the carp robot brain electrode waterproof adapter comprises a plastic tube cavity, a brain electrode cap, a wire connecting cap, a connector, a clamping device, a supporting plate and a needle tube; the brain electrode cap, the plastic tube cavity, the wire connecting cap and the connector are sequentially connected through a thread structure and finally connected into the waterproof bag. The brain electrode is connected with a lead in the lead connecting cap in a plastic tube cavity through a rubber plug of the brain electrode cap by adopting an auxiliary device needle tube, so that waterproof switching between the brain electrode and the microprocessor is realized; and the clamping device and the supporting plate are used for fixing the device on the skull of the carp. The invention provides a waterproof treatment and carrying device for joints of brain electrodes and wires for underwater motion control of aquatic organism robots such as carps and the like. The device can be combined according to the number of the brain electrodes and can be detached for repeated use.

Description

Technical Field

[0001] The present invention relates to the field of biological control, and in particular to a carp robot brain electrode waterproof adapter, a mounting device and a use method thereof. Background Art

[0002] Biocontrol is an emerging multidisciplinary frontier science and technology field in the world today. It has become a reality for humans to use biocontrol technology to control animal movement and behavior. Aquatic biorobots are an important part of biorobots. At present, the research on aquatic biorobots mainly includes shark robots, goldfish robots, turtle robots, carp robots, etc.

[0003] The application of aquatic biological robots will mainly be aimed at marine scientific expeditions, marine environmental monitoring, ecosystem research, dam quality inspections, water rescue, underwater searches, earthquake prediction, tsunami warnings, reconnaissance and surveillance, and marine rights protection struggles.

[0004] Brain control technology is currently the most effective and commonly used control method for biological robots in the world. Biological robots controlled by brain control technology usually achieve their movement behavior control by implanting brain electrodes into the motor nerve nuclei of the brain to apply electrical stimulation signals. However, in the underwater movement control of aquatic biological robots, if waterproof treatment is not performed, the connection between the brain electrodes and the wires will come into contact with water and cause leakage, affecting the control effect of the aquatic biological robot. In addition, the connection exposed to water will also cause corrosion of the brain electrodes, affecting the use effect and service life of the brain electrodes.

[0005] Chinese patent CN202110324892.0[P] discloses a switching device between brain electrodes and wires of an animal robot. The device consists of an electrode switching hole array, a needle row, and a plurality of mother row implant holes; wherein the number of mother row implant holes is the same as the number of columns of the electrode switching hole array, and each column of electrode switching holes is connected to a mother row implant hole. The device is used for switching between animal brain electrodes and wires to achieve positioning, implantation, and switching of multiple groups of brain electrodes, but does not have waterproof and anti-corrosion functions.

[0006] Chinese patent CN202310605548.8[P] discloses a brain electrode fixing device and a brain electrode device. The brain electrode fixing device of the device includes a first fixing bracket and a second fixing bracket; the first fixing bracket includes a first skull fixing structure and a circuit board fixing structure, the first skull fixing structure is connected to the circuit board fixing structure, and the data processing circuit board is detachably connected to the circuit board fixing structure; the second fixing bracket includes a second skull fixing structure and an electrode fixing structure, the second skull fixing structure is connected to the electrode fixing structure; the brain electrode includes an electrode plate, one end of the electrode plate is connected to the electrode fixing structure, and the other end of the electrode plate is detachably connected to the data processing circuit board; by providing a brain electrode fixing device that is easy to replace the parts that are prone to failure, the damage to the implanted object and the later maintenance cost of the brain electrode device can be reduced, which can be used for animal EEG acquisition. However, the device does not involve waterproof and anti-corrosion functions.

[0007] Chinese patent CN201310620549.6[P] discloses an electrode adapter and fixation method for chronic brain function research in birds. The device can drill screw fixing holes, electrode implantation holes and pits at specific points on the bird's skull according to the characteristics of the bird's skull; implant electrodes in the electrode implantation holes in turn and fix them to form a primary base plate; place the electrode adapter on top of the primary base plate and fix it; connect the electrode lead-out end to the electrode adapter hole and fix it. The double fixation of the deep and surface layers of the bird's skull and the electrode adapter is achieved, which is suitable for the overall study of discrete brain areas in the bird's brain. Its fixation time is significantly extended, which is conducive to the development of chronic experimental studies such as long-term EEG research and changes in brain function after "foreign body" implantation. However, the device does not involve waterproof and anti-corrosion functions.

[0008] Chinese patent CN202122840529.2[P] discloses an electrode interface device for brain electrical stimulation. The device includes an electrode wire, an inner sleeve and an outer sleeve. The electrode wire is located in the inner sleeve and its lower end extends out of the bottom of the inner sleeve. At least the upper end of the inner sleeve is nested in the outer sleeve. The outer sleeve is conductive and connected to a wire. The upper end of the electrode wire extends out of the top of the inner sleeve and bends outward and downward along the top opening and is tightly clamped between the inner sleeve and the outer sleeve, so that the electrode wire, the outer sleeve and the wire form a conductive path. The electrode connection device of the invention is simple to make, easy to connect, and firm and stable. It can increase the operability of the experiment and the durability of the device. It is mainly used for the fixation of electrodes and the stability of signal transmission in rat electrical stimulation experiments. The device does not involve waterproof and anti-corrosion functions.

[0009] There are currently no reports on waterproof brain electrode adapters and their mounting devices for preventing leakage of electricity at the connection between brain electrodes and wires and corrosion of electrodes in underwater motion control of aquatic biological robots such as carp. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a carp robot brain electrode waterproof adapter and its mounting device and use method. In the underwater motion control of the carp robot, the waterproof treatment of the connection between the brain electrode and the wire is realized, and the waterproof treatment between the brain electrode and the micro-control center in the waterproof bag and the mounting of the brain electrode waterproof adapter can also be realized. The brain electrodes can be combined according to the number of brain electrodes and can be detached and reused.

[0011] In order to solve the above technical problems, the technical solution adopted by the present invention is: A carp robot brain electrode waterproof adapter and its carrying device, comprising a brain electrode waterproof adapter device and a brain electrode carrying device; the brain electrode waterproof adapter device is fixed on the animal skull through the brain electrode carrying device to achieve waterproof processing between the brain electrode and the micro control center in the waterproof bag and the carrying of the waterproof adapter device; The brain electrode waterproof adapter device comprises a plastic lumen, a brain electrode cap, a wire connection cap, a connector and an auxiliary device needle tube; a waterproof bag interface is arranged at one end of the connector for connecting with the waterproof bag of the aquatic biological robot microcontroller, and a plurality of wire connection cap interfaces are arranged at the other end; the plastic lumen is connected with the wire connection cap interface through the wire connection cap; a brain electrode cap is arranged at the end of the plastic lumen; The brain electrode carrying device comprises a clamping device and a supporting plate.

[0012] A further improvement of the technical solution of the present invention is that: the connector is provided with five wire connection cap interfaces; the number of brain electrode caps is five and they are sleeved on the ends of the plastic lumen and the idle wire connection cap interfaces.

[0013] A further improvement of the technical solution of the present invention is that the front end of the needle tube is a steel needle head, and the rear end is a plastic tubular needle tail. The needle head and the needle tail are a whole and can be divided into two equal halves longitudinally to assist the brain electrode to pass through the brain electrode cap.

[0014] A further improvement of the technical solution of the present invention is that: the bottom of the brain electrode cap has a threaded structure inside, which is threadedly connected to the plastic tube cavity or the wire connection cap interface; the top is a rubber plug, and a groove is provided in the middle of the rubber plug for locating the needle insertion position.

[0015] A further improvement of the technical solution of the present invention is that the plastic tube cavity is a transparent hollow tube, and the internal structure includes two channels in the middle position, which are the positive channel and the negative channel of the brain electrode respectively; there are single channels at both ends of the plastic tube cavity for placing redundant electrode wires or conductors.

[0016] A further improvement of the technical solution of the present invention is that: Velcro is arranged outside the plastic tube cavity, and the Velcro is used to connect multiple plastic tube cavities; there is a certain distance between two Velcros.

[0017] A further improvement of the technical solution of the present invention is that the wire connecting cap includes a wire and a rubber tube from the inside to the outside, and two nuts are integrally arranged at both ends of the rubber tube; two wires pass through the nuts and are respectively used to connect the positive and negative poles of the brain electrodes.

[0018] A further improvement of the technical solution of the present invention is that: the clamping device includes a stud, a screw, a connecting piece and a clamping plate; three cylindrical holes for supporting the plastic tube cavity are arranged on the clamping plate, and there are concave and convex grooves on the outside, which are used to cooperate with the connecting piece to combine multiple clamping plates together; one end of the stud is fixed to the edge of the clamping plate by a screw, and the other end is fixed to the head of the aquatic biological robot or the photoelectric stimulation mounting device by a screw, so as to reduce the influence of the device on the biological movement behavior.

[0019] A further improvement of the technical solution of the present invention is that: the support plate is made of a plastic plate; three round holes and a plurality of sockets are arranged on the support plate; the round holes are used to fix the support plate and the carp skull with screws; and the sockets are used to connect with the studs of the clamping device.

[0020] A method for using a carp robot brain electrode waterproof adapter and a mounting device and a method for using the same, comprising the following steps: S1. Install the waterproof brain electrode adapter: S11 Connect the brain electrode to the positive and negative electrodes of the wire on the wire connection cap through the plastic tube lumen, place the connection in the middle of the plastic tube lumen, and then twist the positive and negative electrodes together to prevent the connection between the wire and the tube cap from moving in the plastic tube lumen; S12 uses a needle to pass through the groove, inserts the brain electrode through the steel needle through the brain electrode cap, and then pulls out the needle while keeping the brain electrode still; S13 Place the brain electrode and the redundant part of the wire in the part of the plastic tube near both ends, and then screw the brain electrode cap, the plastic tube and the wire connection cap together through threads; S14 Repeat the above steps to install all brain electrodes, and then bond all plastic lumens together with Velcro. After the brain electrodes are implanted and fixed, connect the wire connection cap to the connector, seal the idle interface on the connector with the brain electrode cap, and then connect the connector to the waterproof bag storing the microcontrol system, and connect the wire to the microcontrol system in the waterproof bag; S2. Carp anesthesia: Place the carp in eugenol solution for bath anesthesia and place it on the operating table; S3, Craniotomy and drilling: With the first scale at the junction of the carp's head and trunk as the origin, fix the support plate at a suitable position on the head, and fix it to the head with screws, so that the support plate fits tightly against the skull, and use glue to fill and fix the places where they do not fit; then refer to the stereotaxic atlas of the carp brain to determine the three-dimensional coordinates of its motor nuclei, and use a craniotomy drill to drill two holes in the skull and support plate in the area where the motor nuclei are located, where the positions of the holes correspond to the motor area of ​​the brain; S4. Brain electrode implantation and fixation: Use a brain stereotaxic device to implant brain electrodes, then electrically stimulate the carp. After the carp can produce tail-wagging phenomenon, use dental cement to fix the brain electrodes. S5. After completing the above steps, place the middle parts of the two plastic tube cavities in the circular holes of the clamping device, use the connecting piece, screws, and studs to fix the two clamping pieces together, and then connect the clamping device to the plastic stud jack of the support plate through the studs to carry it to the head of the carp. The clamping device can also be fixed on the photoelectric stimulation combination device; S6. After the carp wakes up, conduct underwater electrical stimulation control experiments on the carp robot to observe the left and right turning movements of the carp robot; S7. After 7 days, an underwater electrical stimulation control experiment was conducted on the carp robot to observe the turning behavior produced by the carp robot.

[0021] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is: 1. The present invention can achieve waterproofing of the brain electrodes of an aquatic biological robot by providing a brain electrode waterproof adapter, and then can be fixed on the skull of an animal through a brain electrode carrying device; the present invention realizes waterproofing between the brain electrode and the micro-control center in the waterproof bag and the carrying of the waterproof adapter.

[0022] 2. In the present invention, the device is fixed on the head of the aquatic biological robot or the photoelectric stimulation carrying device by means of the holding device studs and screws, which can reduce the influence of the device on the movement behavior of the organism.

[0023] 3. The support plate in the present invention is made of a plastic plate, which has a certain plasticity and can better fit the carp skull, reduce the flow of water into the cranial cavity and reduce wound infection; there are 3 round holes on it, which can be used to fix the support plate and the carp skull with screws; there is a plastic stud jack on it, which also has a certain plasticity and is used to connect with the clamping device; the design of the support plate can reduce the damage of the device to the skull compared with directly fixing the device on the skull of an aquatic organism, and can also make the device more firmly fixed.

[0024] 4. The internal structure of the plastic tube cavity in the present invention includes two channels in the middle position, which are the positive channel and the negative channel of the brain electrode, respectively, which can effectively avoid short circuits at the brain electrode transition points; there are single channels at both ends of the tube cavity, which can be used to place redundant electrode wires or conductors; the external structure contains Velcro, which is used to connect multiple plastic tube cavities and can make the multiple plastic tube cavities more firmly connected; and there is a certain distance between the two Velcros, which can be clamped by a clamping device to fix the multiple plastic tube cavities together.

[0025] 5. The present invention can be used multiple times, is easy to disassemble and assemble, and can be used in combination with other waterproof methods, providing a new device for waterproofing and fixing the connection between brain electrodes and wires and carrying them. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a transverse cross-sectional view of the waterproof brain electrode adapter of the present invention; Figure 3 It is a schematic diagram of the overall structure of the needle tube of the present invention; Figure 4 It is the overall structural diagram of the clamping device of the present invention; Figure 5 is a structural diagram of the brain electrode carrying device of the present invention; Among them, 1. Brain electrode cap; 2. Plastic tube cavity; 3. Wire connection cap; 4. Connector; 5. Needle tube; 6. Velcro; 7. Nut; 8. Wire connection cap interface; 9. Waterproof bag interface; 10. Wire; 11. Groove; 12. Needle; 13. Needle tail; 14. Clamping device; 15. Screw; 16. Stud; 17. Connecting piece; 18. Clamping plate; 19. Support plate; 20. Socket. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the accompanying drawings and embodiments: In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" ... etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] In the description of the present invention, “several” means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] like Figure 1 As shown, a carp robot brain electrode waterproof adapter and its carrying device, including a brain electrode waterproof adapter device and a brain electrode carrying device; the brain electrode waterproof adapter device is fixed on the animal skull through the brain electrode carrying device to achieve waterproof processing between the brain electrode and the micro-control center in the waterproof bag and the carrying of the waterproof adapter device; like Figure 2 As shown, the brain electrode waterproof adapter device includes a plastic lumen 2, a brain electrode cap 1, a wire connection cap 3, a connector 4 and an auxiliary device needle tube 5; a waterproof bag interface 9 is provided at one end of the connector 4 for connecting to the waterproof bag of the aquatic biological robot microcontroller, and a plurality of wire connection cap interfaces 8 are provided at the other end; the plastic lumen 2 is connected to the wire connection cap interface 8 through the wire connection cap 3; a brain electrode cap 1 is provided at the end of the plastic lumen 2; the number of the plastic lumen 2 is the same as the number of brain electrodes to be implanted, and the corresponding number of plastic lumens 2 and wire connection caps 3 can be selected according to the number of brain electrodes to be implanted, and a connector 4 is combined with a plurality of brain electrode caps 1 for use to achieve waterproofing of the brain electrodes of the aquatic biological robot; In this embodiment, the connector 4 is provided with five wire connection cap interfaces 8; the number of brain electrode caps 1 is five, which are sleeved on the ends of the plastic lumen 2 and the idle wire connection cap interfaces 8; like Figure 3 As shown, the front end of the needle tube 5 is a steel needle head 12, and the rear end is a plastic round tube needle tail 13. The needle head 12 and the needle tail 13 are an integral whole, which can be divided into two equal halves longitudinally for assisting the brain electrode to pass through the brain electrode cap 1.

[0030] The bottom of the brain electrode cap 1 is internally threaded and is threadedly connected to the plastic tube cavity 2 or the wire connection cap interface 8; the top is a rubber plug, and a groove 11 is provided in the middle of the rubber plug for locating the insertion position of the needle tube 5; The plastic tube cavity 2 is made of a plastic tube, which is transparent and hollow. The internal structure includes two channels in the middle, which are the positive channel and the negative channel of the brain electrode, respectively, which can effectively avoid short circuits at the brain electrode transition. There are single channels at both ends of the tube cavity, which can be used to place redundant electrode wires or wires 10. The external structure contains Velcro 6, which is used to connect multiple plastic tube cavities 2, and can make the multiple plastic tube cavities 2 more firmly connected. There is a certain distance between the two Velcro 6, which can be clamped by a clamping device 14, so as to fix the multiple plastic tube cavities 2 together. The wire connection cap 3 includes a wire 10 and a rubber tube from the inside to the outside, and two nuts 7 are integrally arranged at both ends of the rubber tube; the two wires 10 pass through the nuts 7, and are respectively used to connect the positive and negative poles of the brain electrodes; the rubber tube and the nuts 7 are a complete whole to achieve the purpose of waterproofing, and the wire connection cap 3 is used for waterproof connection between the plastic tube cavity 2 and the connector 4.

[0031] The brain electrode carrying device includes a clamping device 14 and a support plate 19, which are used to fix the brain electrode waterproof adapter device on the skull of an aquatic organism; like Figure 4 As shown, the clamping device 14 includes a stud 16, a screw 15, a connecting piece 17 and a clamping plate 18; the clamping plate 18 is provided with three cylindrical holes, which can clamp three plastic tube cavities 2, and has concave and convex grooves on the outside, which are used to cooperate with the connecting piece 17 to combine multiple clamping plates 18 together; one end of the stud 16 is fixed to the edge of the clamping plate 18 by the screw 15, and the other end is fixed to the head of the aquatic biological robot or the photoelectric stimulation carrying device, so as to reduce the influence of the device on the biological movement behavior; like Figure 5 As shown, the support plate 19 is made of a plastic plate, has a certain plasticity, can better fit the carp skull, can reduce the flow of water into the cranial cavity and reduce wound infection; three round holes and a plurality of sockets 20 are arranged on the support plate 19; the round holes are used to fix the support plate 19 and the carp skull with screws 15; the sockets 20 have a certain plasticity and are used to connect with the studs 16 of the clamping device 14; the design of the support plate 19 can reduce the damage of the device to the skull compared with directly fixing the device on the skull of an aquatic organism, and can also make the device more firmly fixed.

[0032] Directions: Experimental animals: healthy adult carps weighing 1-1.5 kg.

[0033] Taking the implantation of two brain electrodes as an example, the specific experimental steps are as follows: S1. Install the waterproof brain electrode adapter: S11 connects the brain electrode to the positive and negative poles of the wire 10 on the wire connection cap 3 through the plastic tube cavity 2, places the connection at the middle of the plastic tube cavity 2, and then twists the positive and negative poles together to prevent the connection between the wire 10 and the tube cap from moving in the plastic tube cavity 2.

[0034] S12 uses the needle tube 5 to pass through the groove 11 of the brain electrode cap, passes the brain electrode through the brain electrode cap 1 through the steel needle 12, and then pulls out the needle tube 5 while keeping the brain electrode still.

[0035] S13: Place the redundant parts of the brain electrode and the wire 10 in the parts of the plastic tube cavity 2 close to both ends, and then screw the brain electrode cap 1, the plastic tube cavity 2 and the wire connecting cap 3 together through threads.

[0036] S14 Repeat the above steps to install the second brain electrode, and then stick the two plastic tube cavities 2 together with Velcro 6. After the brain electrode is implanted and fixed, connect the wire connection cap 3 to the connector 4, seal the idle interface on the connector 4 with the brain electrode cap 1, and then connect the connector 4 to the waterproof bag that stores the microcontrol system, and connect the wire 10 to the microcontrol system in the waterproof bag.

[0037] S2. Carp anesthesia: Place the carp in eugenol solution for bath anesthesia and place it on the operating table.

[0038] S3. Craniotomy and drilling: With the first scale at the junction of the carp's head and trunk as the origin, fix the support plate 19 at a suitable position on the head, and fix it to the head with screws 15, so that the support plate 19 fits tightly against the skull, and use glue to fill and fix the places where they do not fit; then refer to the stereotaxic map of the carp brain to determine the three-dimensional coordinates of its motor nuclei, and use a craniotomy drill to drill two holes in the skull and support plate 19 in the area where the motor nuclei are located, where the positions of the holes correspond to the motor area of ​​the brain.

[0039] S4. Brain electrode implantation and fixation: Use a brain stereotaxic apparatus to implant brain electrodes, then electrically stimulate the carp. After the carp can produce tail-wagging phenomenon, use dental cement to fix the brain electrodes.

[0040] S5. After completing the above steps, place the middle parts of the two plastic tube cavities 2 in the circular holes of the clamping device 14, and use the connecting piece 17, screws 15, and studs 16 to fix the two clamping pieces together. Then, connect the clamping device 14 to the socket 20 of the support plate 19 through the studs 16 and carry it to the head of the carp. The clamping device 14 can also be fixed on the photoelectric stimulation combination device.

[0041] S6. After the carp wakes up, conduct underwater electrical stimulation control experiments on the carp robot to observe the left and right turn movements produced by the carp robot.

[0042] S7. After 7 days, an underwater electrical stimulation control experiment was conducted on the carp robot to observe the turning behavior of the carp robot. The device was fixed and there was no sign of looseness. After removing the device, the water on the surface of the device was dried, and when the device was disassembled, it was found that no water had entered the rubber hose.

[0043] S8. Experiments have shown that the invention can achieve waterproof transfer of carp robot brain electrodes.

[0044] In summary, the present invention can achieve waterproof treatment of the connection between the brain electrode and the wire, and can also achieve waterproof treatment between the brain electrode and the micro-control center in the waterproof bag and the installation of the brain electrode waterproof adapter. It can be combined according to the number of brain electrodes and can be detached and reused.

Claims

1. A carp robot brain electrode waterproof adapter and its carrying device, characterized by: It includes a brain electrode waterproof adapter and a brain electrode carrying device; The brain electrode waterproof adapter is fixed on the animal skull through the brain electrode carrying device, so as to realize the waterproof treatment between the brain electrode and the micro-control center in the waterproof bag and the carrying of the waterproof adapter; The brain electrode waterproof adapter device comprises a plastic tube (2), a brain electrode cap (1), a wire connection cap (3), a connector (4) and an auxiliary device needle tube (5); a waterproof bag interface (9) is provided at one end of the connector (4) for connecting to the waterproof bag of the aquatic biological robot microcontroller, and a plurality of wire connection cap interfaces (8) are provided at the other end; the plastic tube (2) is connected to the wire connection cap interface (8) via the wire connection cap (3); and a brain electrode cap (1) is provided at the end of the plastic tube (2); The brain electrode carrying device comprises a clamping device (14) and a support plate (19).

2. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The connector (4) is provided with five wire connection cap interfaces (8); the number of brain electrode caps (1) is five and they are sleeved on the ends of the plastic tube cavities (2) and on the idle wire connection cap interfaces (8).

3. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The front end of the needle tube (5) is a steel needle head (12), and the rear end is a plastic circular tube-shaped needle tail (13); the needle head (12) and the needle tail (13) are integral and can be divided into two equal halves in the longitudinal direction, and are used to assist the brain electrode to pass through the brain electrode cap (1).

4. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The bottom of the brain electrode cap (1) has a threaded structure inside, which is threadedly connected to the plastic tube cavity (2) or the wire connection cap interface (8); the top is a rubber plug, and a groove (11) is provided in the middle of the rubber plug for locating the insertion position of the needle tube (5).

5. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The plastic tube cavity (2) is a transparent hollow tube, and the internal structure includes two channels in the middle, which are the positive electrode channel and the negative electrode channel of the brain electrode; and single channels are located at both ends of the plastic tube cavity (2) for placing redundant electrode wires or conductors (10).

6. The carp robot brain electrode waterproof adapter and its carrying device according to claim 5, characterized in that: The plastic tube cavity (2) is provided with a Velcro (6) outside, and the Velcro (6) is used to connect a plurality of plastic tube cavities (2); there is a certain distance between two Velcros (6).

7. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The wire connection cap (3) comprises a wire (10) and a rubber tube from the inside to the outside, and two nuts (7) are integrally provided at both ends of the rubber tube; the two wires (10) pass through the nuts (7) and are respectively used to connect the positive and negative electrodes of the brain electrodes.

8. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The clamping device (14) comprises a stud (16), a screw (15), a connecting piece (17) and a clamping plate (18); the clamping plate (18) is provided with three cylindrical holes for holding the plastic tube cavity (2), and has a concave-convex groove on the outside for cooperating with the connecting piece (17) to combine a plurality of clamping plates (18) together; one end of the stud (16) is fixed to the edge of the clamping plate (18) by means of a screw (15), and the other end is fixed to the head of the aquatic biological robot or the photoelectric stimulation carrying device.

9. The carp robot brain electrode waterproof adapter and its carrying device according to claim 1, characterized in that: The support plate (19) is made of a plastic plate; three circular holes and a plurality of insertion holes (20) are arranged on the support plate (19); the circular holes are used to fix the support plate (19) and the carp skull with screws (15); and the insertion holes (20) are used to connect with the studs (16) of the clamping device (14).

10. A method for using a carp robot brain electrode waterproof adapter and a mounting device thereof, characterized in that: Using the carp robot brain electrode waterproof adapter and its carrying device as described in any one of claims 1 to 9 comprises the following steps: S1. Install the waterproof brain electrode adapter: S11 connects the brain electrode to the positive and negative electrodes of the wire (10) on the wire connection cap (3) through the plastic tube cavity (2), places the connection at the middle of the plastic tube cavity (2), and then twists the positive and negative electrodes together to prevent the connection between the wire (10) and the tube cap from moving in the plastic tube cavity (2); S12 uses a needle tube (5) to pass through the groove (11), passes the brain electrode through the steel needle (12) through the brain electrode cap (1), and then keeps the brain electrode still and pulls out the needle tube (5); S13: placing the redundant parts of the brain electrode and the wire (10) in the parts of the plastic tube (2) close to both ends, and then screwing the brain electrode cap (1), the plastic tube (2) and the wire connection cap (3) together through threads; S14: Repeat the above steps to install all brain electrodes, and then bond all plastic tube lumens (2) together with Velcro (6). After the implantation and fixation of the brain electrodes are completed, connect the wire connection cap (3) to the connector (4), seal the idle interface on the connector (4) with the brain electrode cap (1), and then connect the connector (4) to the waterproof bag storing the microcontrol system, and connect the wire (10) to the microcontrol system in the waterproof bag; S2. Carp anesthesia: Place the carp in eugenol solution for bath anesthesia and place it on the operating table; S3, craniotomy and drilling: With the first scale at the junction of the carp's head and trunk as the origin, fix the support plate (19) at a suitable position on the head, and fix it to the head so that the support plate (19) fits tightly against the skull. Use glue to fill and fix the places where they do not fit. Then, refer to the stereotaxic map of the carp brain to determine the three-dimensional coordinates of the motor nucleus of the brain, and use a craniotomy drill to drill two holes in the skull and the support plate (19) in the area where the motor nucleus of the brain is located, wherein the positions of the holes correspond to the motor area of ​​the brain. S4. Brain electrode implantation and fixation: Use a brain stereotaxic device to implant brain electrodes, then electrically stimulate the carp. After the carp can produce tail-wagging phenomenon, use dental cement to fix the brain electrodes. S5. After completing the above steps, the middle parts of the two plastic tube cavities (2) are placed in the circular holes of the clamping device (14), and the two clamping plates are fixed together using the connecting plate (17), the screw (15), and the stud (16). The clamping device (14) is then connected to the socket (20) of the support plate (19) through the stud (16) so as to be mounted on the head of the carp. The clamping device (14) can also be fixed on the photoelectric stimulation combination device; S6. After the carp wakes up, conduct underwater electrical stimulation control experiments on the carp robot to observe the left and right turning movements of the carp robot; S7. After 7 days, an underwater electrical stimulation control experiment was conducted on the carp robot to observe the turning behavior produced by the carp robot.

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