Animal experiment head frame fixing device of cranial nerve intervention nuclear magnetism compatible puncture robot

Abstract

The invention provides an animal experiment head frame fixing device of a cranial nerve intervention nuclear magnetism compatible puncture robot. The animal experiment head frame fixing device comprises an ear rod support assembly acting on an external auditory canal on an animal jaw bone; the tooth rod support assembly acts on cutting teeth on the animal jaw bone, and the pressing plate support assembly acts on a nose jaw on the animal jaw bone; the lug rod support assembly, the tooth rod support assembly and the pressing plate support assembly are detachably installed on the main body base, and the lug rod support assembly, the tooth rod support assembly and the pressing plate support assembly can move on the main body base in the first direction. By means of the six-point positioning principle, on the premise that the 3R standard of animal experiments is met, animal injuries in the skull fixing process are reduced or avoided, the skull of the experimental animal can be reliably fixed, the displacement of the animal skull generated in the processes of external surgery and robot repositioning is within the experiment requirement range, and the animal skull can be prevented from being damaged. And the normal working performance of the MR and the operation precision of the robot are not influenced.

Description

Technical Field

[0001] The present invention relates to the technical field of fixing devices, and in particular to an animal experiment head frame fixing device of a cranial nerve intervention nuclear magnetic resonance compatible puncture robot. Background Art

[0002] The ultimate goal of the development of experimental animal science is to study the life phenomena of animals themselves and then apply them to humans, explore the mysteries of human life, control human diseases and aging, and extend human life. With the rapid development of medical biological science, it is recognized that pollution problems have not only become major social problems such as food, population, and the elderly, but also involve the survival of animals living on the earth, such as industrial pollution, food pollution, drug toxicity, etc., which directly affect human health. The research on these problems must ultimately be clarified and solved through animal experiments (including the development of animal disease models, etc.).

[0003] The animal head frame is a conventional device for fixing the animal head in animal experiments. The existing Chinese patent application document with the publication number CN114903639B discloses a macaque deep brain nucleus electrode implantation adapter device and method based on a stereotactic head frame. The adapter device is used to rigidly connect and puncture the stereotactic head frame, the stereotactic head bow and the macaque skull, including a head frame adapter device, a puncture sleeve and a puncture guide sleeve assembly. The head frame adapter device includes a T-shaped titanium nail, a connecting base, a connecting crossbeam, two extension arms, and two connecting columns. After the connecting crossbeam, the extension arm, and the connecting column in the head frame adapter device are connected to the stereotactic head frame, the position can be adjusted according to the actual operation, which is convenient for subsequent surgical operations, and provides a large degree of freedom for intracranial implanted electrodes of different macaque skull sizes, shape differences, and different skull connection base installation positions, which is easy to understand and operate and improves work efficiency.

[0004] However, with the development of science and technology, the equipment for animal experiments is becoming more and more advanced, and the requirements for animal experiment conditions are becoming higher and higher. At present, in the animal experiments of brain nerve intervention surgery robots in nuclear magnetic resonance compatible environments, there is an urgent need for an animal fixation head frame that meets the 3R specifications of animal experiments, reduces or avoids harm to animals in the process of fixing the skull, and can reliably fix the skull of experimental animals, so that the displacement of the animal skull during neurosurgery and robot repositioning is within the experimental requirements, and does not affect the normal working performance of MR and the operating accuracy of the robot. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide an animal experiment head frame fixing device for a cranial nerve intervention nuclear magnetic resonance compatible puncture robot.

[0006] According to the present invention, an animal experiment head frame fixing device of a cranial nerve interventional MRI-compatible puncture robot comprises a main body base, an ear bar bracket assembly, a tooth bar bracket assembly and a pressure plate bracket assembly; the ear bar bracket assembly acts on the external auditory canal on the animal's jaw to constrain the displacement of the animal's jaw in the X, Y, and Z directions and the rotation of the animal's jaw in the X and Z directions; the tooth bar bracket assembly acts on the incisor on the animal's jaw, and the pressure plate bracket assembly acts on the nasal jaw on the animal's jaw to constrain the rotation of the animal's jaw in the Y direction; the ear bar bracket assembly, the tooth bar bracket assembly and the pressure plate bracket assembly are all detachably mounted on the main body base, and the ear bar bracket assembly, the tooth bar bracket assembly and the pressure plate bracket assembly are all movable along the first direction on the main body base.

[0007] Preferably, the ear bar bracket assembly includes a first bracket, an ear bar body and an ear bar bracket base, the first bracket is provided with two groups on the ear bar bracket base at intervals by fasteners, at least one ear bar body is detachably provided on any first bracket by fasteners, and the ear bar bodies on the two first brackets are arranged opposite to each other.

[0008] Preferably, a guide block is provided at the bottom of the ear bar holder base, a guide groove is provided on the main body base, the length direction of the guide groove is the first direction, and the guide block is slidably embedded in the guide groove; the ear bar holder base is detachably connected to the main body base through a fastener.

[0009] Preferably, a second base is provided on the main body base, an adjustment slot is provided on the second base, and the second base is connected to the main body base through the adjustment slot and a fastener; both the tooth bar bracket assembly and the pressure plate bracket assembly are installed on the second base.

[0010] Preferably, two groups of the pressure plate bracket assembly are relatively spaced apart on the second base; the pressure plate bracket assembly includes a gasket, a pressure plate and a fastener, the gasket is arranged below the pressure plate, and the fastener fastens the pressure plate and the gasket on the second base from top to bottom.

[0011] Preferably, the tooth stick bracket assembly is arranged on a side of the second base away from the ear stick bracket assembly, the tooth stick bracket assembly includes a gate-shaped bracket and a tooth stick, the tooth stick is movably arranged in the gate-shaped bracket, the tooth plate can slide along the Z direction in the gate-shaped bracket, and the tooth stick is positioned and connected to the gate-shaped bracket by a fastener.

[0012] Preferably, it further comprises a radio frequency coil device and a radio frequency coil mounting device, and the radio frequency coil device is mounted on the ear bar support assembly through the radio frequency coil mounting device.

[0013] Preferably, the RF coil mounting device comprises an X-direction translation adjustment block, a Y-direction translation adjustment block, a rotation adjustment block and a Z-direction translation adjustment block, and the ear bar bracket assembly comprises a first bracket; the Z-direction translation adjustment block is connected to the first bracket via a fastener, the Y-direction translation adjustment block is connected to the Z-direction translation adjustment block via a fastener, the rotation adjustment block is connected to the Y-direction translation adjustment block via a fastener, the axial direction of the rotation axis of the rotation adjustment block is the Y direction, and the X-direction translation adjustment block is connected to the rotation adjustment block via a fastener.

[0014] Preferably, the RF coil device comprises a RF coil body and a mounting hole, and the RF coil body is fixedly connected to the X-direction translation adjustment block via both the mounting hole and the fastener.

[0015] Preferably, at least two mounting holes are respectively arranged on both sides of the radio frequency coil device, and the mounting holes are arranged in a one-to-one correspondence with the radio frequency coil mounting devices.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention adopts the six-point positioning principle and combines the physiological structure of the skull of the experimental animal to completely fix the skull of the experimental animal through ear bars, pressure plates and tooth bars. Under the premise of meeting the 3R standards of animal experiments, it reduces or avoids harm to the animal in the process of fixing the skull, and can reliably fix the skull of the experimental animal, ensuring that the displacement of the animal skull during neurosurgery and robot repositioning is within the experimental requirements and does not affect the normal working performance of MR and the operating accuracy of the robot.

[0018] 2. The present invention uses a split structure to adjust the width between the ear bars and the distance between the ear bars and the pressure plate and tooth bar to meet the size of the skulls of animals of different ages and experimental positioning requirements.

[0019] 3. The present invention meets the needs of surgical operations and robot operating space by adopting an upper open structure. The frame structure can also expand the installation mechanism of the radio frequency coil to achieve 5-degree-of-freedom adjustment of the radio frequency coil to meet the needs of different animals (pigs and monkeys) and different radio frequency coils. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0021] Figure 1 This is a schematic diagram of the working state of the head frame fixing device for animal experiments mainly embodied in the present invention;

[0022] Figure 2 This is a schematic diagram of the overall structure of the ear bar bracket assembly mainly embodied in the present invention;

[0023] Figure 3 This is a schematic diagram of the overall structure of the tooth bar bracket assembly and the pressure plate bracket assembly mainly embodied in the present invention;

[0024] Figure 4 This is a schematic diagram of the overall structure of the main base of the present invention;

[0025] Figure 5 This is a schematic diagram of the overall structure of the pig maxillary model mainly embodied in the present invention;

[0026] Figure 6 This is a structural schematic diagram of the radio frequency coil device and the head frame fixing device of the present invention;

[0027] Figure 7 This is a schematic diagram of the overall structure of the radio frequency coil installation device mainly embodied in the present invention;

[0028] Figure 8 The figure is a schematic diagram of the overall structure of the radio frequency coil device mainly embodied in the present invention.

[0029] As shown in the figure:

[0030] Ear bar support assembly 100 guide groove 301

[0031] Ear bar body 102 Pig maxillary bone model 400

[0032] First bracket 103 Electrode insertion position 401

[0033] Ear bar bracket base 106 Nose jaw 402

[0034] Guide block 107 Cutting teeth 403

[0035] Tooth stick bracket assembly 200 External auditory canal 404

[0036] Second base 201 RF coil device 501

[0037] Press plate 202 RF coil mounting device 502

[0038] Gasket 203 X-axis translation adjustment block 5022

[0039] Door-shaped bracket 204 Rotation adjustment block 5024

[0040] Tooth rod 207 Z-direction translation adjustment block 5025

[0041] Main base 300 Y-axis translation adjustment block 5027

[0042] Platen bracket assembly 600 DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0044] It should be noted that the X direction, Y direction, and Z direction in the present application are the X direction, Y direction, and Z direction in the space coordinate system.

[0045] Embodiment 1

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, according to the present invention, a head frame fixing device for animal experiments of a nuclear magnetic resonance compatible puncture robot for cranial nerve intervention includes a main body base 300, an ear bar bracket assembly 100, a tooth bar bracket assembly 200 and a pressure plate bracket assembly 600. The ear bar bracket assembly 100 acts on the external auditory canal 404 on the animal's jaw to constrain the displacement of the animal's jaw in the X, Y, and Z directions and the rotation in the X and Z directions. The tooth bar bracket assembly 200 acts on the incisor 403 on the animal's jaw, and the pressure plate bracket assembly 600 acts on the nasal jaw 402 on the animal's jaw to constrain the rotation of the animal's jaw in the Y direction; the ear bar bracket assembly 100, the tooth bar bracket assembly 200 and the pressure plate bracket assembly 600 can all be detachably mounted on the main body base 300, and the ear bar bracket assembly 100, the tooth bar bracket assembly 200 and the pressure plate bracket assembly 600 can all be moved along the first direction on the main body base 300.

[0047] All parts of the animal experiment head frame fixture are made of materials compatible with nuclear magnetic resonance, such as POM, PEEK, nylon and modified and reinforced materials, to ensure safety in the nuclear magnetic resonance environment and reduce the impact on imaging quality. The six-point positioning principle is adopted, and the skull of the experimental animal is completely fixed by ear bars, pressure plates 202 and tooth bars 207 in combination with the physiological structure of the skull of the experimental animal. The experimental animals include but are not limited to pigs and monkeys.

[0048] For ease of understanding, this application is explained using a porcine maxillary model 400 as an example. The ear bar bracket assembly 100 realizes displacement in the X, Y, and Z directions and rotation constraints in the X and Z directions by constraining the external auditory canal 404 on the porcine maxillary model 400. The tooth bar bracket assembly 200 and the pressure plate bracket assembly 600 complete the Y-direction rotation constraint through the nasal jaw 402 and the incisor 403, thereby achieving complete fixation of the porcine maxillary model 400.

[0049] Specifically, the ear bar support assembly 100 includes a first support 103, an ear bar body 102, and an ear bar support base 106. Two groups of first supports 103 are arranged on the ear bar support base 106 at intervals through fasteners. At least one ear bar body 102 is detachably arranged on any first support 103 through fasteners, and the ear bar bodies 102 on the two first supports 103 are arranged opposite to each other. Further, the ear bar support base 106 is placed flat on the main body base 300, and the two first supports 103 are arranged at intervals along the Y direction on the ear bar support base 106. The ear bar support base 106 is provided with a threaded hole, and the bottom of the first support 103 is also provided with a corresponding through hole. The fixing screw passes through the through hole at the bottom of the first support 103 and is then screwed into the threaded hole on the ear bar support base 106, so as to achieve a fastened connection between the first support 103 and the ear bar support base 106. In a feasible implementation manner: multiple groups of threaded holes are provided on the ear bar support base 106 along the Y direction, so as to adjust the distance between the two first supports 103 in the Y direction.

[0050] More specifically, a guide block 107 is provided at the bottom of the ear bar support base 106, and a guide groove 301 is provided on the main body base 300. The length direction of the guide groove 301 is the first direction, which is the X direction. The guide block 107 is slidably embedded and installed in the guide groove 301. The ear bar support base 106 is detachably connected to the main body base 300 through a fastener. In a feasible embodiment, a screw hole is provided in the guide groove 301, and a plurality of screw holes are arranged at intervals along the length direction of the guide groove 301. A through hole corresponding to the screw hole is provided on the ear bar support base 106, and a screw passes through the through hole on the ear bar support base 106 from top to bottom and enters the screw hole, so that the ear bar support base 106 is positioned and fixedly connected to the main body base 300. It should be noted that with the help of the screw hole in the guide groove 301, the position of the ear bar support base 106 can be adjusted in the X direction.

[0051] The main body base 300 is provided with a second base 201, and an adjustment slot is provided on the second base 201. The second base 201 is connected to the main body base 300 through the adjustment slot and the fastener. The adjustment slot is a through slot that runs through from top to bottom, and the guide slot 301 overlaps. The end of the screw passes through the adjustment slot and enters the screw hole of the guide slot 301, so that the second base 201 is positioned and fixedly connected to the main body base 300. Both the tooth bar bracket assembly 200 and the pressure plate bracket assembly 600 are installed on the second base 201. With the help of the screw hole in the guide slot 301, the position of the second base 201 can be adjusted in the X direction, that is, the positions of the tooth bar bracket assembly 200 and the pressure plate bracket assembly 600 can be adjusted in the X direction.

[0052] Furthermore, two groups of the platen support assembly 600 are relatively spaced apart on the second base 201. The platen support assembly 600 includes a gasket 203, a platen 202, and a fastener. The gasket 203 is arranged below the platen 202. The fastener fastens the platen 202 and the gasket 203 on the second base 201 from top to bottom. The two groups of platen support assemblies 600 are spaced apart along the Y direction. The fastener is a locking screw for the platen 202. The end of the locking screw for the platen 202 passes through the platen 202 and the gasket 203 from top to bottom in sequence and is screwed into the second base 201 to fix the platen 202 on the second base 201.

[0053] Furthermore, the tooth bar bracket assembly 200 is arranged on a side of the second base 201 away from the ear bar bracket assembly 100, and the tooth bar bracket assembly 200 includes a door-shaped bracket 204 and a tooth bar 207, the tooth bar 207 is movably arranged in the door-shaped bracket 204, the tooth plate can slide along the Z direction in the door-shaped bracket 204, and the tooth bar 207 is positioned and connected to the door-shaped bracket 204 through a fastener. The fastener is a locking screw of the tooth bar 207.

[0054] The head frame fixing system adopts a split structure to meet the skull size and experimental positioning requirements of animals of different ages. Figure 1 and Figure 5 As shown, the pig maxillary model 400 includes an electrode insertion position 401 , a nose and jaw 402 , an incisor 403 , and an external auditory canal 404 .

[0055] Embodiment 2

[0056] Based on the first embodiment, a head frame fixing device for animal experiments of a cranial nerve interventional MRI-compatible puncture robot is provided according to the present invention, such as Figure 6 , Figure 7 as well as Figure 8 As shown, the RF coil assembly 501 and the RF coil mounting device 502 are also included. The RF coil assembly 501 is mounted on the ear bar support assembly 100 through the RF coil mounting device 502 .

[0057] The RF coil mounting device 502 includes an X-axis translation adjustment block 5022, a Y-axis translation adjustment block 5027, a rotation adjustment block 5024, and a Z-axis translation adjustment block 5025. The ear bar bracket assembly 100 includes a first bracket 103; the Z-axis translation adjustment block 5025 is connected to the first bracket 103 through a fastener, the Y-axis translation adjustment block 5027 is connected to the Z-axis translation adjustment block 5025 through a fastener, the rotation adjustment block 5024 is connected to the Y-axis translation adjustment block 5027 through a fastener, the axial direction of the rotation axis of the rotation adjustment block 5024 is the Y direction, and the X-axis translation adjustment block 5022 is connected to the rotation adjustment block 5024 through a fastener.

[0058] The RF coil device 501 includes a RF coil body and a mounting hole, and the RF coil body is fixedly connected to the X-direction translation adjustment block 5022 through the mounting hole and the fastener. At least two mounting holes are respectively provided on both sides of the RF coil device 501, and the mounting holes and the RF coil mounting devices 502 are provided in a one-to-one correspondence.

[0059] Specifically, in order to adapt to the installation of the MR radio frequency coil, the head frame assembly is extended and designed, and the system includes a radio frequency coil device 501 and a radio frequency coil installation device 502 .

[0060] The X-axis translation adjustment block 5022, the Y-axis translation adjustment block 5027 and the Z-axis translation adjustment block 5025 can be positioned and locked after translation in a fixed direction by means of the fastening bolts and the waist-shaped grooves. The rotation adjustment block 5024 is supported and positioned by screws, and the screws allow the rotation adjustment block 5024 to be locked and fixed after rotation.

[0061] In the description of the present application, it should be understood that the terms "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 application and simplifying the description, and do not indicate or imply 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 a limitation on the present application.

[0062] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A head frame fixing device for animal experiments of a brain nerve intervention nuclear magnetic resonance compatible puncture robot, characterized in that: It includes a main body base, an ear stick bracket assembly, a tooth stick bracket assembly and a pressure plate bracket assembly; The ear bar bracket assembly acts on the external auditory canal on the animal's jaw to constrain the displacement of the animal's jaw in the X, Y, and Z directions and the rotation in the X and Z directions; The tooth rod support assembly acts on the incisor on the animal's jaw, and the pressure plate support assembly acts on the nasal jaw on the animal's jaw to constrain the rotation of the animal's jaw in the Y direction; The ear bar bracket assembly, the tooth bar bracket assembly and the pressure plate bracket assembly are all detachably mounted on the main body base, and the ear bar bracket assembly, the tooth bar bracket assembly and the pressure plate bracket assembly are all movable along the first direction on the main body base.

2. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 1, characterized in that: The ear bar bracket assembly includes a first bracket, an ear bar body and an ear bar bracket base, the first bracket is provided with two groups on the ear bar bracket base at intervals via fasteners, at least one ear bar body is detachably provided on any first bracket via fasteners, and the ear bar bodies on the two first brackets are arranged opposite to each other.

3. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 2, characterized in that: A guide block is provided at the bottom of the ear bar bracket base, a guide groove is provided on the main body base, the length direction of the guide groove is a first direction, and the guide block is slidably embedded in the guide groove; The ear bar support base is detachably connected to the main body base via a fastener.

4. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 1, characterized in that: The main body base is provided with a second base, the second base is provided with an adjustment slot, and the second base is connected to the main body base through the adjustment slot and a fastener; The tooth bar bracket assembly and the pressure plate bracket assembly are both mounted on the second base.

5. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot as claimed in claim 4, characterized in that: The pressure plate support assembly is provided in two groups on the second base at a relatively interval; The pressing plate bracket assembly comprises a gasket, a pressing plate and a fastener, wherein the gasket is arranged below the pressing plate, and the fastener fastens the pressing plate and the gasket on the second base from top to bottom.

6. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 4, characterized in that: The tooth stick bracket assembly is arranged on a side of the second base away from the ear stick bracket assembly. The tooth stick bracket assembly includes a door-shaped bracket and a tooth stick. The tooth stick is movably arranged in the door-shaped bracket. The tooth plate can slide along the Z direction in the door-shaped bracket. The tooth stick is positioned and connected to the door-shaped bracket through a fastener.

7. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 1, characterized in that: It also includes a radio frequency coil device and a radio frequency coil mounting device, wherein the radio frequency coil device is mounted on the ear bar support assembly through the radio frequency coil mounting device.

8. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic resonance compatible puncture robot according to claim 7, characterized in that: The radio frequency coil mounting device comprises an X-direction translation adjustment block, a Y-direction translation adjustment block, a rotation adjustment block and a Z-direction translation adjustment block, and the ear bar bracket assembly comprises a first bracket; The Z-direction translation adjustment block is connected to the first bracket via a fastener, the Y-direction translation adjustment block is connected to the Z-direction translation adjustment block via a fastener, the rotation adjustment block is connected to the Y-direction translation adjustment block via a fastener, the axial direction of the rotation axis of the rotation adjustment block is the Y direction, and the X-direction translation adjustment block is connected to the rotation adjustment block via a fastener.

9. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 8, characterized in that: The radio frequency coil device comprises a radio frequency coil body and a mounting hole, and the radio frequency coil body is fixedly connected to the X-direction translation adjustment block through the mounting hole and the fastener.

10. The animal experiment head frame fixing device of the cranial nerve intervention nuclear magnetic compatible puncture robot according to claim 9, characterized in that: At least two mounting holes are respectively arranged on both sides of the radio frequency coil device, and the mounting holes are arranged in a one-to-one correspondence with the radio frequency coil mounting devices.

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