Automatic constant-temperature heating system for tails of rats and mice

Abstract

The invention relates to the field of constant-temperature heating, and particularly discloses an automatic constant-temperature heating system for tails of rats and mice, which comprises a temperature sensing module for collecting tail temperature data in real time, an environment compensation module for generating heating compensation parameters based on a Fourier transform model, and dynamically adjusting the power of the heating module; the intelligent clamping module recognizes the diameter of the tail and automatically adapts to and fixes the tail and the body of the mouse; the whole-body heat preservation module is used for maintaining mouse body temperature; and the energy storage power supply module is used for storing and supplying electric energy. By self-adaptive environment compensation and heating power adjustment, accurate temperature control is realized, experimental efficiency and data reliability are remarkably improved, animal stress response is reduced, and the experimental device is suitable for experimental requirements of tail vein injection.

Description

Technical Field

[0001] The invention relates to the field of constant temperature heating, and in particular to an automatic constant temperature heating system for the tails of mice and rats. Background Art

[0002] When injecting the tail vein of mice and rats, the tail vein does not fill long enough after being wiped with alcohol; when soaking the tail of mice and rats in a container filled with warm water, the water temperature is difficult to control and the operation is not convenient enough. The water is easy to get on the body of the mice and rats, getting them wet and affecting subsequent operations. The water in the container is easy to cool down. If the temperature is too low, it will not fill the vein. At this time, the mouse and rat tail constant temperature heating system is needed to heat the mouse tail at a constant temperature to ensure that the mouse tail vein is filled.

[0003] Traditional mouse tail heating systems mainly rely on passive temperature control methods such as water bath heating or electric heating pads. Not only do they have low temperature control accuracy and single functions, but they are also unable to dynamically compensate for heat loss caused by environmental factors. Frequent adjustment of heating power is required, and temperature fluctuations and unevenness reduce the dilation effect of the tail vein and increase the risk of injection failure. Functional separation increases operational complexity and introduces human errors. The lack of ambient temperature compensation triggers animal stress responses and interferes with experimental data. Manual operation increases operational risks and time costs. High maintenance costs may shorten the service life of the equipment, ultimately affecting the reliability and repeatability of experimental data, while increasing the operational burden of experimenters and animal welfare risks.

[0004] Therefore, it is necessary to design an automatic constant temperature heating system for the tails of mice and rats to solve the problems of low temperature control accuracy and inability to dynamically compensate for heat loss caused by environmental factors in the existing automatic constant temperature heating system for the tails of mice and rats. Summary of the invention

[0005] In view of this, the present invention proposes an automated constant temperature heating system for the tails of mice and rats, aiming to solve the problems of low temperature control accuracy, single function and inability to dynamically compensate for heat loss caused by environmental factors in the existing automated constant temperature heating system for the tails of mice and rats.

[0006] The present invention provides an automatic constant temperature heating system for the tail of mice and rats, comprising:

[0007] Temperature sensing module, used to collect real-time temperature data of the mouse's tail and body;

[0008] An environmental compensation module, used to generate thermal compensation parameters according to the temperature information collected by the temperature collection module, and to adjust the heating strategy by receiving the mouse tail temperature data collected by the temperature sensing module;

[0009] A heating module, used to adjust the heating power according to the thermal compensation parameters generated by the environmental compensation module and the heating strategy, so as to heat the mouse tail;

[0010] Intelligent clamping module, used to automatically adjust the size of the mouse tail according to the size of the mouse;

[0011] Whole body heat preservation module, used to maintain the core body temperature of mice;

[0012] Energy storage and power supply module, used to store and supply electrical energy.

[0013] Furthermore, a target temperature T is preset in the environmental compensation module. When heating starts, the heating module heats the mouse's tail to the target temperature T and then stops heating. The temperature sensing module records the temperature change of the mouse's tail within 10 seconds after stopping heating, and obtains the temperature drop rate K. The environmental compensation module obtains the thermal compensation parameter a based on the temperature drop rate K.

[0014] Furthermore, the heating module is configured as follows: an initial power P is preset, and a basic constant temperature power P1 is obtained according to the initial power P and the thermal compensation parameter a, where P1=P+a.

[0015] Furthermore, the environmental compensation module is configured to: receive the real-time temperature T1 of the mouse tail transmitted by the temperature sensing module in real time, compare the real-time temperature T1 with the target temperature T, obtain the temperature difference ΔT, and adjust the heating strategy according to the temperature difference ΔT.

[0016] Furthermore, the environmental compensation module is also configured as follows: obtaining a proportional adjustment component P according to the temperature difference ΔT; performing an integration operation on multiple temperature difference values ​​ΔT within an integration period to obtain an integral adjustment component I, wherein the integration period is 10 seconds; obtaining a differential adjustment component D according to the rate of change of the temperature difference ΔT; adding the proportional adjustment component P, the integral adjustment component I and the differential adjustment component D to obtain a comprehensive adjustment amount U, and obtaining the target power P2 of the heating module according to the comprehensive adjustment amount U, and adjusting the power of the heating module to the target power P2.

[0017] Furthermore, the intelligent clamping module is configured as follows:

[0018] The mice were initially fixed using multiple telescopic clamps, and whole-body images of the mice were collected;

[0019] The mouse body contour is extracted to obtain the mouse body length H and the mouse body center of mass coordinates (x, y), and the position and spacing La of the mouse body clamp are determined according to the mouse body length H and the mouse body center of mass coordinates (x, y). The clamping force is dynamically adjusted through the PID algorithm according to the pressure data collected by the pressure sensor in the clamp;

[0020] The mouse tail contour information is extracted to obtain the mouse tail diameter d, and the parameter Lb of the mouse tail clamp is generated according to the value of the mouse tail diameter d.

[0021] Furthermore, the intelligent clamping module is also configured to: preset a mouse body tilt threshold θ1, continuously collect mouse images during the clamping process, and when the mouse body tilt angle θ≥θ1 is detected, the body clamp is translated a distance x in the tilt direction, where x=La×sinθ; the tail clamp is adjusted synchronously.

[0022] Furthermore, the intelligent clamping module is also configured to: preset a mouse breathing rate threshold and a clamping force threshold, monitor the real-time breathing rate of the mouse, and automatically release 10% of the clamping force when the real-time breathing rate of the mouse is greater than the mouse breathing rate threshold; when the clamping force is greater than the holding force threshold, immediately release the clamp.

[0023] Furthermore, the whole body insulation module is configured to: receive the real-time body temperature data of the mouse collected by the temperature sensing module, preset the target body temperature, and dynamically adjust the power of the heating module through the PID algorithm according to the difference between the real-time body temperature data of the mouse and the preset target body temperature; and automatically adjust the PID parameters according to the body data of the mouse collected by the intelligent clamping module.

[0024] Compared with the prior art, the beneficial effects of the present invention are: by setting a temperature compensation module and a temperature sensing module, the thermal compensation parameters of the current environment are obtained, a heating strategy is produced, the power of the heating module is accurately adjusted, and precise temperature control is achieved, thereby improving the venous dilation effect of mice and avoiding the occurrence of animal stress behavior. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0026] Figure 1 This is a functional block diagram of the automatic constant temperature heating system for the tails of mice and rats provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although 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. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] The present invention obtains the thermal compensation parameters of the current environment by setting a temperature compensation module and a temperature sensing module, produces a heating strategy, accurately adjusts the power of the heating module, realizes precise temperature control, improves the venous dilation effect of mice, and avoids the occurrence of animal stress behavior.

[0029] Reference Figure 1 As shown, in some embodiments of the present application, an automated constant temperature heating system for the tail of a mouse or rat comprises:

[0030] Temperature sensing module, used to collect real-time temperature data of the mouse's tail and body;

[0031] An environmental compensation module, used to generate thermal compensation parameters according to the temperature information collected by the temperature collection module, and to adjust the heating strategy by receiving the mouse tail temperature data collected by the temperature sensing module;

[0032] A heating module, used to adjust the heating power according to the thermal compensation parameters generated by the environmental compensation module and the heating strategy, so as to heat the mouse tail;

[0033] Intelligent clamping module, used to automatically adjust the size of the mouse tail according to the size of the mouse;

[0034] Whole body heat preservation module, used to maintain the core body temperature of mice;

[0035] Energy storage and power supply module, used to store and supply electrical energy.

[0036] Specifically, the temperature sensing module collects the temperature of the mouse's tail and body through a micro-thermocouple array. The array is distributed longitudinally along the mouse's tail, with a temperature measurement point set every 2 mm. The data of each temperature measurement point is transmitted to the environmental compensation module via a flexible cable through time division multiplexing technology, and the transmission frequency is 10 Hz.

[0037] like Figure 1As shown, in some embodiments of the present application, a target temperature T is preset in the environmental compensation module. When heating starts, the heating module heats the mouse tail to the target temperature T and then stops heating. The temperature sensing module records the temperature change of the mouse tail within 10 seconds after stopping heating, and obtains the temperature drop rate K. The environmental compensation module obtains the thermal compensation parameter a according to the temperature drop rate K; the heating module is configured as follows: an initial power P is preset, and a basic constant temperature power P1 is obtained according to the initial power P and the thermal compensation parameter a, P1=P+a.

[0038] Specifically, at the beginning, the heating module is driven at the maximum duty cycle, so that the temperature of the mouse tail reaches the preset temperature T within 15 seconds. When the temperature stabilizes, a 10-second observation period is triggered, the heating module is completely turned off, and the temperature sensor collects temperature data at a frequency of 100 Hz, recording the temperature decay curve T(t). According to the temperature decay curve T(t), the temperature drop rate K is calculated. Where T 10s is the temperature at the 10th second; according to the temperature drop rate K, the thermal compensation parameter a is obtained, a=K×C, where C is the equipment calibration coefficient, calibrated through experiments, unit: W / (℃·s), the obtained thermal compensation parameter a is added to the preset initial power P to obtain the basic constant temperature power P1, and then the heating module operates at the basic constant temperature power P1 when it resumes working.

[0039] Specifically, the environmental compensation module is equipped with an anti-overshoot mechanism. When the temperature rises, an exponential smoothing algorithm is used to limit the heating power increment: P new =P old +a 0.7 t , where t is the recovery heating time.

[0040] It can be understood that the environmental compensation module monitors the temperature drop rate in real time and dynamically adjusts the heating power to offset the heat loss caused by ambient temperature fluctuations (such as air conditioning airflow, room temperature changes) and the decrease in animal metabolic rate (such as anesthesia), ensuring that the tail temperature is stable in the target range (usually 37±0.3℃) to avoid vasoconstriction caused by low temperature or tissue damage caused by high temperature.

[0041] It is understandable that automatic compensation reduces the need for manual intervention. For example, the traditional method requires frequent manual adjustment of the heating equipment, while the thermal compensation system can respond in real time, saving the experimenter's time. At the same time, it can quickly reach and maintain the target temperature (response time <10 seconds), shortening the experimental preparation cycle.

[0042] like Figure 1As shown, in some embodiments of the present application, the environmental compensation module is configured to: receive the real-time temperature T1 of the mouse tail transmitted by the temperature sensing module in real time, compare the real-time temperature T1 with the target temperature T, obtain the temperature difference ΔT, and adjust the heating strategy according to the temperature difference ΔT; the environmental compensation module is also configured to: obtain the proportional adjustment component P according to the temperature difference ΔT; perform an integral operation on multiple temperature differences ΔT within an integration period to obtain an integral adjustment component I, and the integration period is 10 seconds; obtain the differential adjustment component D according to the rate of change of the temperature difference ΔT; add the proportional adjustment component P, the integral adjustment component I and the differential adjustment component D to obtain a comprehensive adjustment amount U, obtain the target power P2 of the heating module according to the comprehensive adjustment amount U, and adjust the power of the heating module to the target power P2.

[0043] Specifically, the environmental compensation module performs median filtering to remove abnormal values ​​caused by factors such as electromagnetic interference.

[0044] Specifically, the proportional adjustment is as follows: according to the temperature deviation value ΔT, the proportional adjustment component P is obtained, P = K P ×ΔT, where K P is the proportional coefficient, which is 0.5. The role of proportional regulation is to quickly respond to temperature deviation and make the temperature approach the target value as soon as possible. The integral regulation is as follows: integrate the multiple temperature differences ΔT within the integral period to obtain the integral regulation component I. Where K i is the integration coefficient, which is 0.1, N is the number of ΔT obtained in the integration period, ΔT n is the nth ΔT, the integral period is set to 10 seconds, and the integral regulation is used to eliminate the steady-state error of the system; the differential regulation is specifically: according to the change rate of the temperature difference ΔT, the differential regulation component D is obtained, Where K d is the differential coefficient, which is set to 0.2, and Δt is the time interval between two adjacent temperature data collections, which is set to 1 second. Differential regulation can suppress temperature overshoot and improve system stability.

[0045] Specifically, the target power P2=P1+U.

[0046] like Figure 1 As shown, in some embodiments of the present application, the intelligent clamping module is configured as:

[0047] The mice were initially fixed using multiple telescopic clamps, and whole-body images of the mice were collected;

[0048] The mouse body contour is extracted to obtain the mouse body length H and the mouse body center of mass coordinates (x, y), and the position of the mouse body clamp and La are determined according to the mouse body length H and the mouse body center of mass coordinates (x, y). The clamping force is dynamically adjusted through the PID algorithm according to the pressure data collected by the pressure sensor in the clamp;

[0049] The mouse tail contour information is extracted to obtain the mouse tail diameter d, and the parameter Lb of the mouse tail clamp is generated according to the value of the mouse tail diameter d.

[0050] Specifically, the intelligent clamping module has a built-in RGB-D camera to capture images of the mouse's tail. The RGB-D camera is installed directly above the intelligent clamping module to ensure that the mouse's image information can be fully captured. Both the body clamp and the tail clamp use an adjustable flexible clamping structure, and a micro pressure sensor is also installed in the clamp to monitor the clamping force in real time.

[0051] Specifically, the intelligent clamping module analyzes the collected images, distinguishes the mouse body from the background through a semantic segmentation model (such as MaskR-CNN), extracts the complete outline, calculates the height H of the minimum circumscribed rectangle of the outline, converts it into the actual body length (unit: mm) based on the calibration parameters, and determines the body center of mass coordinates (x, y) as a reference for the clamping position.

[0052] Specifically, the initial body clamp spacing La = H × 0.4 (the proportional coefficient can be calibrated) is determined according to the body length H; the clamping force is dynamically adjusted using the PID algorithm through feedback from the pressure sensor. Among them, ΔF=Fset-Freal, wherein Fset is the safety threshold (which can be freely set), and Freal is the real-time clamping force.

[0053] Specifically, when extracting the contour of the mouse's tail, the intelligent clamping module first converts the collected color RGB image into a grayscale image to reduce the amount of data and facilitate subsequent processing. The weighted average method is used, Gray = 0.299R + 0.587G + 0.114B, where R, G, and B are the red, green, and blue channel values ​​of the color image. The grayscale image is Gaussian filtered to remove noise interference in the image. The Sobel operator is used to perform edge enhancement on the filtered image to highlight the edge information of the mouse's tail. The horizontal and vertical gradients are calculated respectively, and then merged to obtain the final gradient image. The enhanced image is binarized using the Otsu threshold segmentation algorithm to segment the mouse's tail from the background. The binarized image is contour detected to extract the contour information of the mouse's tail. The minimum circumscribed rectangle of the extracted contour is calculated, and the width of the rectangle is the diameter d of the mouse's tail.

[0054] Specifically, the jaw spacing parameter Lb is generated based on the measured mouse tail diameter d. In order to ensure that the jaws can stably clamp the mouse tail without causing damage to it, the calculation formula of the jaw spacing parameter Lb is Lb=d+2 (unit: mm), that is, the jaw spacing is 2 mm larger than the mouse tail diameter.

[0055] like Figure 1 As shown, in some embodiments of the present application, the intelligent clamping module is further configured to: preset a mouse body tilt threshold θ1, continuously collect mouse images during the clamping process, and when the mouse body tilt angle θ≥θ1 is detected, the body clamp is translated a distance x in the tilt direction, where x=La×sinθ; the tail clamp is adjusted synchronously.

[0056] It is understandable that adjusting the clamp spacing in real time according to the mouse posture can maintain the mouse's physiological balance and comfort, distribute the clamping force evenly on both sides of the body, avoid tissue damage caused by unilateral excessive compression, and maintain the mouse's natural posture (such as a tilt angle <15°) to reduce stress indicators such as increased heart rate and rapid breathing caused by forced posture.

[0057] It can be understood that the tail clamp is adjusted synchronously to offset the influence of body tilt on the tail position, ensuring that the target deviation during tail vein imaging or injection is less than 0.2mm, and the contact area between the heating element and the tail is kept stable through posture compensation. When the mouse is lying on its side, the heat loss rate fluctuation is still maintained at less than ±5%, which improves the temperature control accuracy by 30% compared with the traditional fixation method.

[0058] like Figure 1 As shown, in some embodiments of the present application, the intelligent clamping module is further configured to: preset a mouse breathing rate threshold and a clamping force threshold, monitor the real-time breathing rate of the mouse, and automatically release 10% of the clamping force when the real-time breathing rate of the mouse is greater than the mouse breathing rate threshold; when the clamping force is greater than the holding force threshold, immediately release the clamp.

[0059] Specifically, a strain-type respiratory sensor is integrated on the inner side of the body clamp to collect the mouse's respiratory rate, and the mouse's respiratory rate threshold and clamping force threshold can be freely set.

[0060] like Figure 1 As shown, in some embodiments of the present application, the whole body insulation module is configured to: receive the real-time body temperature data of the mouse collected by the temperature sensing module, preset the target body temperature, and dynamically adjust the power of the heating module through the PID algorithm according to the difference between the real-time body temperature data of the mouse and the preset target body temperature; and automatically adjust the PID parameters according to the body data of the mouse collected by the intelligent clamping module.

[0061] Specifically, customers can pre-set the target value of the mouse's core body temperature according to the specific needs of the experiment, use the PID algorithm for dynamic adjustment, quickly adjust the heating power according to the deviation between the current temperature and the target temperature, accumulate long-term temperature deviations, eliminate steady-state errors, predict the trend of temperature changes, adjust the heating power in advance, and prevent temperature overshoot.

[0062] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0063] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automated constant temperature heating system for the tail of mice and rats, characterized in that: include: Temperature sensing module, used to collect real-time temperature data of the mouse's tail and body; An environmental compensation module, used to generate thermal compensation parameters according to the temperature information collected by the temperature collection module, and to adjust the heating strategy by receiving the mouse tail temperature data collected by the temperature sensing module; A heating module, used to adjust the heating power according to the thermal compensation parameters generated by the environmental compensation module and the heating strategy, so as to heat the mouse tail; Intelligent clamping module, used to automatically adjust the size and fix the mouse's tail according to the mouse's body size; Whole body heat preservation module, used to maintain the core body temperature of mice; Energy storage and power supply module, used to store and supply electrical energy.

2. The automatic constant temperature heating system for the tail of mice and rats according to claim 1, characterized in that: A target temperature T is preset in the environmental compensation module. When heating starts, the heating module heats the mouse's tail to the target temperature T and then stops heating. The temperature sensing module records the temperature change of the mouse's tail within 10 seconds after stopping heating, and obtains the temperature drop rate K. The environmental compensation module obtains the thermal compensation parameter a based on the temperature drop rate K.

3. The automatic constant temperature heating system for the tail of mice and rats according to claim 1, characterized in that: The heating module is configured as follows: an initial power P is preset, and a basic constant temperature power P1 is obtained according to the initial power P and the thermal compensation parameter a, where P1=P+a.

4. The automatic constant temperature heating system for the tail of mice and rats according to claim 1, characterized in that: The environmental compensation module is configured to: receive the real-time temperature T1 of the mouse tail transmitted by the temperature sensing module in real time, compare the real-time temperature T1 with the target temperature T to obtain a temperature difference ΔT, and adjust the heating strategy according to the temperature difference ΔT.

5. The automatic constant temperature heating system for the tail of mice and rats according to claim 4, characterized in that: The environmental compensation module is further configured to: obtain a proportional adjustment component P according to the temperature difference ΔT; perform an integration operation on multiple temperature difference values ​​ΔT within an integration period to obtain an integral adjustment component I, wherein the integration period is 10 seconds; According to the change rate of the temperature difference ΔT, the differential adjustment component D is obtained; The proportional adjustment component P, the integral adjustment component I and the differential adjustment component D are added together to obtain a comprehensive adjustment amount U. According to the comprehensive adjustment amount U, the target power P2 of the heating module is obtained, and the power of the heating module is adjusted to the target power P2.

6. The automatic constant temperature heating system for the tail of mice and rats according to claim 1, characterized in that: The intelligent clamping module is configured as follows: The mice were initially fixed using multiple telescopic clamps, and whole-body images of the mice were collected; The mouse body contour is extracted to obtain the mouse body length H and the mouse body center of mass coordinates (x, y), and the position and spacing La of the mouse body clamp are determined according to the mouse body length H and the mouse body center of mass coordinates (x, y). The clamping force is dynamically adjusted through the PID algorithm according to the pressure data collected by the pressure sensor in the clamp; The mouse tail contour information is extracted to obtain the mouse tail diameter d, and the parameter Lb of the mouse tail clamp is generated according to the value of the mouse tail diameter d.

7. The automatic constant temperature heating system for the tail of mice and rats according to claim 6, characterized in that: The intelligent clamping module is also configured to: preset a mouse body tilt threshold θ1, continuously collect mouse images during the clamping process, and when the mouse body tilt angle θ≥θ1 is detected, the body clamp is translated a distance x in the tilt direction, where x=La×sinθ; the tail clamp is adjusted synchronously.

8. The automatic constant temperature heating system for the tail of mice and rats according to claim 1, characterized in that: The intelligent clamping module is also configured to: preset a mouse breathing frequency threshold and a clamping force threshold, monitor the real-time breathing frequency of the mouse, and automatically release 10% of the clamping force when the real-time breathing frequency of the mouse is greater than the mouse breathing frequency threshold; when the clamping force is greater than the holding force threshold, immediately release the clamp.

9. The automatic constant temperature heating system for the tail of mice and rats according to any one of claims 1 to 8, characterized in that: The whole body insulation module is configured to: receive the real-time body temperature data of the mouse collected by the temperature sensing module, preset the target body temperature, and dynamically adjust the power of the heating module through the PID algorithm according to the difference between the real-time body temperature data of the mouse and the preset target body temperature; and automatically adjust the PID parameters according to the body data of the mouse collected by the intelligent clamping module.

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