Cerebral cortex precise liquid injection system

Abstract

The invention provides a cerebral cortex precise liquid injection system, which belongs to the technical field of injection instruments, and comprises an injection controller, an injector, an injection pipeline, a liquid pressure sensor, a quartz tube microelectrode, a liquid level measurement sensor and a positioning part, the injection controller is used for controlling the positioning part to push the quartz tube microelectrode into the cortex of the target brain region; pushing and pulling an injector for injection according to the target injection amount set by the user, the target pipeline pressure and the selected injection mode; the actual injection amount is calculated according to the liquid level change in the quartz tube microelectrode monitored by the liquid level measurement sensor; when the actual injection amount is equal to the target injection amount, the injector is controlled to stop injection, and the positioning component is controlled to draw back the quartz tube microelectrode. According to the application, the quartz tube microelectrode is used for replacing an injection needle, so that the damage to the cortex is greatly reduced; a liquid level measuring sensor is further arranged, the actual injection amount can be accurately calculated, and injection amount deviation is fundamentally avoided.

Description

Technical Field

[0001] The present application relates to the technical field of injection equipment, and in particular to a cerebral cortex precision liquid injection system. Background Art

[0002] Microfluid injection into the animal cerebral cortex is a key technology in neuroscience research. It refers to the precise injection of a very small amount of specific fluid into a specific area of ​​the animal cerebral cortex, aiming to study the function of the cerebral cortex, the mechanism of neural circuits, and the pathophysiological process of related diseases. The injection volume is usually in the nanoliter (nL) to microliter (μL) level, and needs to be precisely controlled to avoid excessive local pressure or excessive diffusion range due to excessive fluid volume, which may affect the experimental results.

[0003] When the existing technology is applied to the micro-liquid injection in the animal cerebral cortex, there are several problems as follows: 1. The injection needle is too thick (34G, outer diameter ≈ 0.18mm), which causes great damage to the cortex; 2. During the injection process, the cortex vibrates continuously under the action of breathing and heartbeat, causing the needle to move continuously relative to the cortex, which in turn causes the liquid to leak along the periphery of the needle, which will also cause the positioning deviation to increase and further increase the damage to the cortex. This type of problem is particularly serious when injecting the superficial cortex; 3. The amount of injected liquid is only calculated based on the displacement of the syringe. Due to the slight leakage of the rubber stopper of the syringe and the elasticity of the injection line, the injection amount error is very large when injecting a trace amount of liquid (tens of nanoliters); 4. The injection line generally uses a plastic tube, which has greater elasticity. After the injection procedure is completed, the needle will continue to leak liquid due to the residual pressure in the pipeline. In addition, the plastic tube has limited pressure resistance. When injecting viscous liquids, the pressure is insufficient and the injection speed is very slow; 5. The injection mode is single, and only the injection speed and injection volume can be adjusted, and the scope of use is limited.

[0004] In summary, existing injection equipment cannot achieve high-precision (nanoliter precision) and stable injection of trace amounts of liquids of various viscosities at any angle into the animal cerebral cortex. Summary of the invention

[0005] The embodiment of the present invention provides a cerebral cortex precision liquid injection system to solve the problem that the existing injection system cannot meet the needs of users.

[0006] Therefore, the present application provides a cerebral cortex precision liquid injection system, comprising: Injection controller, syringe, injection line, liquid pressure sensor, quartz tube microelectrode, liquid level measurement sensor and positioning components; The syringe is controllably arranged on the injection controller, the outlet of the syringe is connected to one end of the injection pipeline, the other end of the injection pipeline is connected to the quartz tube microelectrode, the quartz tube microelectrode is fixed on the positioning component, the liquid level measurement sensor is arranged on the quartz tube microelectrode; the liquid pressure sensor is arranged on the injection pipeline; The positioning component is used to realize the positioning of any brain region and limit the vibration amplitude of the cortex of the target brain region; The liquid level measurement sensor is used to monitor the liquid level changes in the quartz tube microelectrode; The liquid pressure sensor is used to monitor the pipeline pressure of the injection pipeline; The injection controller is used to control the positioning component to advance the quartz tube microelectrode into the cortex of the target brain area; push and pull the syringe for injection according to the target injection volume, target pipeline pressure and selected injection mode set by the user; calculate the actual injection volume according to the liquid level change in the quartz tube microelectrode monitored by the liquid level measurement sensor; when the actual injection volume is equal to the target injection volume, control the syringe to stop injection and control the positioning component to withdraw the quartz tube microelectrode.

[0007] In a possible implementation, the injection line uses a stainless steel capillary.

[0008] In a possible implementation, the liquid level measurement sensor uses a linear CCD array.

[0009] In a possible implementation, the injection modes provided by the injection controller include: quantitative injection mode, constant pressure injection mode and pulsating injection mode.

[0010] In a possible implementation, if the injection mode selected by the user is a quantitative injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume, target pipeline pressure and injection mode set by the user, specifically including: The injection controller calculates the propulsion displacement distance of the syringe according to the formula L = V / S; wherein L represents the propulsion displacement distance; V represents the target injection volume; and S represents the cross-sectional area of ​​the inner barrel of the syringe; The injection controller controls the syringe advancement distance L according to a preset injection speed. When the actual injection volume is less than the target injection volume, the injection controller continues to control the syringe to inject according to the preset injection speed until the actual injection volume is equal to the target injection volume.

[0011] In a possible implementation, if the injection mode selected by the user is the constant pressure injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume and target pipeline pressure set by the user, specifically including: The injection controller reads the value of the liquid pressure sensor in real time and records the initial value; adjusts the piston position of the push-pull syringe according to the difference between the current pipeline pressure and the target pipeline pressure so that the current pipeline pressure reaches the target pipeline pressure; The injection controller controls the injector to perform injection according to the target pipeline pressure, stops injection when the actual injection volume is equal to the target injection volume, and reduces the pipeline pressure to the initial value.

[0012] In a possible implementation, if the injection mode selected by the user is the pulsating injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume and target pipeline pressure set by the user, specifically including: The injection controller reads the value of the liquid pressure sensor in real time, and adjusts the piston position of the syringe so that the current pipeline pressure oscillates around the target pipeline pressure according to a sine wave, and the amplitude and frequency of the sine wave can be set.

[0013] In a possible implementation, a pressure plate is provided at one end of the positioning component that fixes the quartz tube microelectrode, and the pressure plate is used to apply pressure to the cortex to limit the vibration of the cortex.

[0014] In a possible implementation, the end of the pressing plate is a transparent quartz plate with a hole in the center, and the small hole in the center of the quartz plate allows the quartz tube microelectrode to pass through to puncture the inside of the cortex.

[0015] In a possible implementation, the quartz tube microelectrode is formed by melting a quartz capillary at a local high temperature and pulling it, and the tip diameter is pulled to 15-45 microns and ground into an inclined surface by a needle grinder.

[0016] The beneficial effects of this application are as follows: The cerebral cortex precision liquid injection system provided by the present application includes: an injection controller, a syringe, an injection pipeline, a liquid pressure sensor, a quartz tube microelectrode, a liquid level measurement sensor and a positioning component. The injection controller is used to control the positioning component to advance the quartz tube microelectrode into the cortex of the target brain area; push and pull the syringe for injection according to the target injection volume, target pipeline pressure and selected injection mode set by the user; calculate the actual injection volume according to the liquid level change in the quartz tube microelectrode monitored by the liquid level measurement sensor; when the actual injection volume is equal to the target injection volume, control the syringe to stop injection and control the positioning component to withdraw the quartz tube microelectrode. Compared with the prior art, the present application uses a quartz tube microelectrode instead of an injection needle. The tip diameter of the quartz tube microelectrode is much smaller than that of a traditional injection needle, which greatly reduces damage to the cortex. The present application also provides a liquid level measurement sensor that can accurately measure the liquid level changes in the quartz tube microelectrode, and then accurately calculate the actual injection volume, fundamentally avoiding the injection volume deviation caused by problems such as system pipeline leakage and elasticity, thereby achieving high-precision (nanoliter accuracy) and stable injection of trace liquids of various viscosities at any angle on the animal cerebral cortex. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present application. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings: Figure 1 A schematic diagram of the structure of a cerebral cortex precision liquid injection system provided by the present application is shown; Figure 2 A schematic structural diagram of a specific cerebral cortex precision liquid injection system provided by the present application is shown; Figure 3 A flow chart of an injection controller control algorithm provided by the present application is shown. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0020] In addition, the terms "first" and "second" etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0021] The cerebral cortex precision liquid injection system provided by the present application overcomes many shortcomings of the prior art, thereby achieving high-precision (nanoliter precision) stable injection of trace liquids of various viscosities at any angle on the animal cerebral cortex, and the injection system of the present application has multiple injection modes and is suitable for multiple liquid injections. Compared with the prior art, it not only improves the injection accuracy and expands the scope of application, but also is flexible and convenient to use, reduces the difficulty of injection, and improves the operating efficiency. The following is a detailed description with reference to the accompanying drawings.

[0022] Please refer to Figure 1 , Figure 1 A structural schematic diagram of a cerebral cortex precision liquid injection system provided in an embodiment of the present application is shown, and the injection system includes: an injection controller 10, a syringe 20, an injection pipeline 30, a liquid pressure sensor 40, a quartz tube microelectrode 50, a liquid level measurement sensor 60 and a positioning component 70.

[0023] The syringe 20 is controllably arranged on the injection controller 10, the outlet of the syringe 20 is connected to one end of the injection pipeline 30, the other end of the injection pipeline 30 is connected to the quartz tube microelectrode 50, the quartz tube microelectrode 50 is fixed on the positioning component 70, the liquid level measurement sensor 60 is arranged on the quartz tube microelectrode 50; the liquid pressure sensor 40 is arranged on the injection pipeline 30. The injection controller 10 can control the syringe 20 and the positioning component 70, and can collect data measured by the liquid pressure sensor 40 and the liquid level measurement sensor 60.

[0024] Specifically, the quartz tube microelectrode 50 is formed by melting a quartz capillary at a local high temperature, and its tip diameter is pulled to 15-45 microns. This embodiment uses a quartz tube microelectrode to replace the injection needle. The quartz tube microelectrode is formed by melting a quartz capillary at a local high temperature, and for liquids of different viscosities, the tip diameter can be pulled to 15-45 microns, which is much smaller than the 0.18mm of the traditional injection needle, and the tip is sharpened by a needle grinder, which greatly reduces the damage to the cortex.

[0025] The positioning component 70 is used to realize the positioning of any brain region and limit the vibration amplitude of the cortex of the target brain region.

[0026] Specifically, a pressure plate is provided at one end of the positioning component 70 that fixes the quartz tube microelectrode 50, and the pressure plate is used to apply pressure to the cortex to limit the vibration of the cortex. Further, the end of the pressure plate is a transparent quartz plate with a hole in the center, and the small hole in the center of the quartz plate allows the quartz tube microelectrode to pass through to puncture the inside of the cortex.

[0027] The liquid level measurement sensor 60 is used to monitor the liquid level changes in the quartz tube microelectrode 50. Specifically, the liquid level measurement sensor 60 adopts a linear CCD array, and CCD is the abbreviation of charge coupled device. By installing a linear CCD array on the side of the quartz tube microelectrode, the liquid level changes in the quartz tube microelectrode can be accurately measured, and the injection volume can be accurately calculated, and the injection speed can be indirectly calculated. Since this measurement sensor is located at the end of the injection pipeline, the injection volume deviation caused by pipeline leakage and elasticity problems can be fundamentally avoided.

[0028] The liquid pressure sensor 40 is used to monitor the pipeline pressure of the injection pipeline 30. Specifically, the injection pipeline 30 uses a stainless steel capillary. The stainless steel capillary is used instead of the plastic tube. The stainless steel capillary has low elasticity and high pressure resistance. The low elasticity can quickly release the pressure in the tube after the injection is completed, and the high pressure resistance can ensure the injection speed of the viscous liquid.

[0029] The injection controller 10 is used to control the positioning component 70 to push the quartz tube microelectrode 50 into the cortex of the target brain area; push and pull the syringe 20 for injection according to the target injection volume, target pipeline pressure and selected injection mode set by the user; calculate the actual injection volume according to the liquid level change in the quartz tube microelectrode 50 monitored by the liquid level measurement sensor 60; when the actual injection volume is equal to the target injection volume, control the syringe 20 to stop injection and control the positioning component 70 to withdraw the quartz tube microelectrode 50.

[0030] Specifically, the injection modes provided by the injection controller include: quantitative injection mode, constant pressure injection mode and pulsating injection mode.

[0031] If the injection mode selected by the user is the quantitative injection mode, the injection controller calculates the advancement displacement distance of the syringe according to the formula L = V / S; wherein L represents the advancement displacement distance; V represents the target injection volume; S represents the cross-sectional area of ​​the inner barrel of the syringe; the injection controller controls the advancement distance L of the syringe according to a preset injection speed, and when the actual injection volume is less than the target injection volume, continues to control the syringe to inject according to the preset injection speed until the actual injection volume is equal to the target injection volume.

[0032] If the injection mode selected by the user is the constant pressure injection mode, the injection controller reads the value of the liquid pressure sensor in real time and records the initial value; adjusts the piston position of the syringe according to the difference between the current pipeline pressure and the target pipeline pressure so that the current pipeline pressure reaches the target pipeline pressure; the injection controller controls the syringe to inject according to the target pipeline pressure, stops the injection when the actual injection volume is equal to the target injection volume, and reduces the pipeline pressure to the initial value.

[0033] If the injection mode selected by the user is the pulsating injection mode, the injection controller reads the value of the liquid pressure sensor in real time, and adjusts the piston position of the syringe so that the current pipeline pressure oscillates sinusoidally above and below the target pipeline pressure. The amplitude and frequency of the sinusoidal wave can be set.

[0034] The liquid pressure sensor arranged on the injection pipeline and the liquid level measurement sensor arranged at the end of the pipeline in the present application can realize multiple working modes such as conventional quantitative injection mode, constant pressure injection mode and pulsating injection mode, solving the problem of single injection mode and narrow application range of traditional technology.

[0035] The cerebral cortex precision liquid injection system provided by this application is introduced in detail below in terms of hardware and software.

[0036] Figure 2 A structural schematic diagram of a specific cerebral cortex precision liquid injection system provided in an embodiment of the present application is shown.

[0037] Hardware, such as Figure 2 As shown, the syringe 20 may also be a micro-injector. The liquid pressure sensor 40 may be an ultra-micro liquid pressure sensor. The injection line 30 may be a stainless steel capillary. The liquid level measurement sensor 60 may be a linear CCD array.

[0038] The positioning component 70 may be composed of a plurality of units. Figure 2As shown, the base fixed on the head surgical positioner is first connected to a multi-joint universal robot arm (which can be referred to as a multi-joint universal arm), and the end of the robot arm is connected to an XYZ three-axis micromanipulator (electric / manual). The fixed seat of a micro high-precision single-axis electric translation stage is installed in the Z-axis direction of the three-axis micromanipulator. The fixed seat is connected to the pressure plate through a flexible steel plate that can be fine-tuned in the XY direction. The pressure plate is used to limit the movement of the cortex. The end of the pressure plate is a 5mm diameter quartz plate (with a 0.5mm diameter microhole) for observing the direction of the blood vessels under the pressure plate. The sliding part of the electric translation stage clamps the hollow electrode holder through an adapter plate. The pressure plate and the electrode holder can be precisely positioned in any brain area through coarse adjustment of the multi-joint universal arm and fine adjustment of the three-axis micromanipulator.

[0039] like Figure 2 As shown, the nuts at both ends of the electrode holder connect the stainless steel capillary and the quartz tube microelectrode and form a seal. A linear CCD array (model TSL1401CL, pixel pitch 0.0635mm) is connected to the front nut of the electrode holder. This linear CCD array is close to the rear of the quartz tube microelectrode and is used to measure the movement distance of the liquid surface in the quartz tube microelectrode. The stainless steel capillary at the rear of the electrode holder is connected to the syringe through a medical infusion tee. The syringe is fixed on the injection controller. The injection controller can push and pull the syringe in a specific mode according to the control of the software. The function control and data display of the injection controller are realized through a touch screen. The injection controller can be controlled by a handheld injection remote control. An ultra-micro liquid pressure sensor chip (model MS5837) is implanted inside the tee, and the chip pressure signal is sent to the injection controller for real-time monitoring of the pipeline pressure.

[0040] During the use of the hardware part, first fill the syringe, stainless steel capillary, and electrode holder with hydraulic oil, and ensure that there are no bubbles in the pipes. The electric translation stage is retracted to the top. The front end of the quartz tube microelectrode is perfused with the target liquid, and the rear end is perfused with the propulsion liquid (which must be incompatible with the target liquid to be injected). The quartz tube microelectrode is inserted into the front end of the electrode holder and the front nut is tightened. The electric translation stage pushes the electrode tip of the quartz tube microelectrode to the vicinity of the quartz plate with holes. The pressure plate is fine-tuned in the XY direction by the pressure plate fine-tuning screw. Under close observation under the microscope, the center of the small hole of the pressure plate quartz plate is aligned with the electrode tip. Continue to push the electrode tip to the lower surface of the small hole of the quartz plate. At this time, the electric translation stage is set to zero and the electric translation stage is controlled to retract the electrode tip. Adjust the multi-joint universal arm to move the pressure plate to the vicinity above the target brain area, adjust the XYZ three-axis micromanipulator so that the pressure plate gently presses the target brain area, and aligns the center of the quartz plate hole on the pressure plate with the injection site. According to the injection depth, the electric translation stage is controlled to push the electrode into the cortex. Start the injection controller to inject the target liquid. After the injection is completed, control the electric translation stage to withdraw the electrode, and control the micromanipulator to move the pressure plate back, and the operation is completed.

[0041] It can be seen that in the present application, the positioning component 70 realizes the precise positioning of the electrode tip of the quartz tube microelectrode to any brain area. The end of the positioning component 70 is equipped with a pressure plate, which is a transparent quartz sheet with a hole in the center. This pressure plate can apply slight pressure to the cortex through a micromanipulator to prevent the cortex from vibrating. At the same time, the end of the pressure plate is a transparent quartz sheet, which is convenient for observing the injection site under the pressure plate. The small hole in the center of the pressure plate allows the quartz microelectrode to pass through and puncture into the cortex.

[0042] In terms of software, the control algorithm is written in the microcontroller of the injection controller. After the injection controller is turned on, its microcontroller displays the operation interface on the touch screen. The operation interface mainly includes four parts: manual control, function mode, parameter setting, and pipeline pressure display. There are three main function modes: quantitative injection mode, constant pressure injection mode, and pulsating injection mode.

[0043] This application specifically controls the stepper motor to push and pull the syringe plunger. Figure 3 It is a flow chart of an injection controller control algorithm provided by the present application.

[0044] Please refer to Figure 3 In the quantitative injection mode (referred to as quantitative mode), the target injection volume, injection speed and other parameters are input, and the injection controller calculates the total displacement according to the formula L = V / S (L: propulsion displacement distance; V: target injection volume; S: syringe inner tube cross-sectional area). The actual injection volume is calculated by the liquid level change in the quartz tube microelectrode read by the linear CCD array (the calculation formula is v = s * Δd, where v is the actual injection volume, s is the inner tube cross-sectional area of ​​the quartz tube microelectrode, and Δd is the liquid level change). When the actual injection volume is less than the target injection volume, the syringe continues to be controlled to inject at the preset injection speed until the actual injection volume is equal to the target injection volume. Since the inner tube of the quartz tube microelectrode is very thin (the optional inner diameter specifications range from 0.1 to 0.8mm), the pixel points of the linear CCD array are very dense (0.0635mm interval), so the accuracy of the actual injection volume can reach the nanoliter level, which can fundamentally avoid the injection volume deviation caused by pipeline leakage and elasticity problems.

[0045] Please refer to Figure 3 In the constant pressure injection mode (constant pressure mode for short), the injection controller reads the value of the liquid pressure sensor in real time, records the initial value, and then pushes and pulls the syringe push rod according to the difference (ΔP) between the current pipeline pressure and the set target pipeline pressure to achieve the set target pipeline pressure.

[0046] The control of the above syringe plunger adopts PID algorithm. The detailed implementation steps of this algorithm are as follows: (1) Set the target pipeline pressure (P_setpoint) and target pipeline flow (F_setpoint).

[0047] (2) Initialize PID controller parameters. Proportional gain (Kp) controls response speed. The larger the proportional gain, the faster the response. However, too large a proportional gain may cause system oscillation. Integral gain (Ki): eliminates steady-state error. The larger the integral gain, the faster the error is eliminated. However, too large a proportional gain may cause system oscillation. Differential gain (Kd): predicts future trends. The larger the differential gain, the faster the response to rapid changes. However, too large a proportional gain may cause system oscillation.

[0048] (3) Read sensor data. Read the current pipeline pressure (P_actual) from the liquid pressure sensor; read the current pipeline flow (F_actual) from the set liquid flow sensor.

[0049] (4) Calculation error: Pressure error (P_error) = P_setpoint - P_actual. Flow error (F_error) = F_setpoint - F_actual.

[0050] (5) Calculate the output of the PID controller, proportional term (P term): P_output = Kp * P_error; integral term (I term): I_output = I_output (previous step) + Ki * P_error * sampling time; differential term (D term): D_output = Kd * (P_error - P_error (previous step)) / sampling time; PID output = P_output + I_output +D_output.

[0051] (6) Adjust the injection system and adjust the piston position of the syringe according to the PID output to change the injection flow rate and pipeline pressure. During the injection process, the liquid level changes in the quartz tube microelectrode are read from the linear CCD array, and the injection is automatically stopped when the required injection volume is reached. The injection controller quickly reduces the pipeline pressure value to the initial value by controlling the syringe. Since the entire pipeline system can withstand high pressure, the injection pressure can be greater than 1000kPa (ten atmospheres), which meets the injection requirements of viscous liquids.

[0052] Please refer to Figure 3 In the pulsating injection mode (referred to as pulsating mode), the injection controller controls the syringe push rod to maintain the set pressure in the pipeline, and makes the pipeline pressure oscillate around the set pressure according to the sine wave. The amplitude and frequency of the sine wave can be set. High-frequency oscillation is suitable for injecting suspensions or clearing pipeline blockages. The actual injection volume is still read and calculated from the linear CCD array according to the above method.

[0053] The present application provides a cerebral cortex precision liquid injection system, which achieves the precise injection of nanoliter-level trace liquids into the constantly vibrating cerebral cortex by cleverly combining various mechanical structures and software control with feedback, which can greatly improve the level of sophistication of animal cortical function research. At the same time, the present application has multiple injection modes, which solves the problem of the single control method of the prior art.

[0054] It should be noted that the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0055] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0056] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0057] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0058] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0059] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application.

Claims

1. A cerebral cortex precision liquid injection system, characterized in that: include: Injection controller, syringe, injection line, liquid pressure sensor, quartz tube microelectrode, liquid level measurement sensor and positioning components; The syringe is controllably arranged on the injection controller, the outlet of the syringe is connected to one end of the injection pipeline, the other end of the injection pipeline is connected to the quartz tube microelectrode, the quartz tube microelectrode is fixed on the positioning component, the liquid level measurement sensor is arranged on the quartz tube microelectrode; the liquid pressure sensor is arranged on the injection pipeline; The positioning component is used to realize the positioning of any brain region and limit the vibration amplitude of the cortex of the target brain region; The liquid level measurement sensor is used to monitor the liquid level changes in the quartz tube microelectrode; The liquid pressure sensor is used to monitor the pipeline pressure of the injection pipeline; The injection controller is used to control the positioning component to advance the quartz tube microelectrode into the cortex of the target brain area; push and pull the syringe for injection according to the target injection volume, target pipeline pressure and selected injection mode set by the user; calculate the actual injection volume according to the liquid level change in the quartz tube microelectrode monitored by the liquid level measurement sensor; when the actual injection volume is equal to the target injection volume, control the syringe to stop injection and control the positioning component to withdraw the quartz tube microelectrode.

2. The cerebral cortex precision liquid injection system according to claim 1, characterized in that: The injection pipeline adopts a stainless steel capillary.

3. The cerebral cortex precision liquid injection system according to claim 1 or 2, characterized in that: The liquid level measurement sensor adopts a linear CCD array.

4. The cerebral cortex precision liquid injection system according to claim 1 or 2, characterized in that: The injection modes provided by the injection controller include: quantitative injection mode, constant pressure injection mode and pulsating injection mode.

5. The cerebral cortex precision liquid injection system according to claim 4, characterized in that: If the injection mode selected by the user is the quantitative injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume, target pipeline pressure and the selected injection mode set by the user, specifically including: The injection controller calculates the propulsion displacement distance of the syringe according to the formula L = V / S; wherein L represents the propulsion displacement distance; V represents the target injection volume; and S represents the cross-sectional area of ​​the inner barrel of the syringe; The injection controller controls the syringe advancement distance L according to a preset injection speed. When the actual injection volume is less than the target injection volume, the injection controller continues to control the syringe to inject according to the preset injection speed until the actual injection volume is equal to the target injection volume.

6. The cerebral cortex precision liquid injection system according to claim 4, characterized in that: If the injection mode selected by the user is the constant pressure injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume, target pipeline pressure and injection mode set by the user, specifically including: The injection controller reads the value of the liquid pressure sensor in real time and records the initial value; adjusts the piston position of the push-pull syringe according to the difference between the current pipeline pressure and the target pipeline pressure so that the current pipeline pressure reaches the target pipeline pressure; The injection controller controls the injector to perform injection according to the target pipeline pressure, stops injection when the actual injection volume is equal to the target injection volume, and reduces the pipeline pressure to the initial value.

7. The cerebral cortex precision liquid injection system according to claim 4, characterized in that: If the injection mode selected by the user is the pulsating injection mode, the injection controller pushes and pulls the syringe to perform injection according to the target injection volume, target pipeline pressure and the selected injection mode set by the user, specifically including: The injection controller reads the value of the liquid pressure sensor in real time, and adjusts the piston position of the syringe so that the current pipeline pressure oscillates around the target pipeline pressure according to a sine wave, and the amplitude and frequency of the sine wave can be set.

8. The cerebral cortex precision liquid injection system according to claim 1 or 2, characterized in that: One end of the positioning component that fixes the quartz tube microelectrode is provided with a pressing plate, and the pressing plate is used to apply pressure to the cortex to limit the vibration of the cortex.

9. The cerebral cortex precision liquid injection system according to claim 8, characterized in that: The end of the pressing plate is a transparent quartz plate with a hole in the center. The small hole in the center of the quartz plate allows the quartz tube microelectrode to pass through so as to puncture into the cortex.

10. The cerebral cortex precision liquid injection system according to claim 1, characterized in that: The quartz tube microelectrode is formed by melting a quartz capillary at a local high temperature and pulling it, and the tip diameter thereof is pulled to 15-45 microns and ground into an inclined surface by a needle grinding instrument.

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