An electrical stimulation control protection device for a turtle robot and method of use

Abstract

The present application relates to the field of biological robots and neural engineering, and discloses an electric stimulation control protection device for a turtle robot, which comprises a neck biocompatible limiter in a sleeve structure and is composed of a rigid clamping part and a flexible limiting disc, the neck of the turtle robot passes through the rigid clamping part and the flexible limiting disc, the flexible limiting disc abuts against the carapace of the turtle robot, the rigid clamping part abuts against the skull of the turtle robot, the rigid clamping part limits the retraction of the turtle robot, and the flexible limiting disc is used for ensuring the freedom of the turtle robot in other directions. The mechanical protection, sealing performance and flow guiding performance of the waterproof sealed electric stimulation sleeve module guarantee the position stability of the electrode under long-term intense activity and water flow impact.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bio-robot and neural engineering, and particularly relates to an electric stimulation control protection device for a turtle robot and a use method. BACKGROUND

[0002] Taking a living organism as a "robot" capable of performing a specific task, i.e., a bio-robot, is a frontier field of the intersection of robotics, neuroscience and bioengineering. By precisely applying electric stimulation to specific nerves or muscle tissues of a living organism, it is possible to induce or control them to exhibit a preset behavior, such as moving forward, turning left or right. This technology shows great application potential in the fields of environmental monitoring, underwater detection, post-disaster search and rescue, national defense security, etc.

[0003] Turtles, as an animal with strong vitality, long endurance and adaptability to water and land environments, are an ideal carrier for building underwater bio-robots. However, there are two core technical challenges in applying electric stimulation technology to turtles:

[0004] First, the contradiction between stability and animal instinct: the most prominent defense mechanism of turtles is to quickly retract their heads and limbs into the hard shell when disturbed by the outside world. This instinctive reaction of turtles puts high requirements on the fixation of electrodes. The damage and displacement of electrodes caused by the retraction of the head will cause serious deviation of the stimulation point, dispersion of the current, and thus failure of control, and even irreversible damage to the brain tissue of the organism. The current electrode fixation scheme, such as using adhesive tape or bandage to fix flexible electrodes, often cannot effectively suppress the great impact caused by the retraction instinct of turtles.

[0005] Second is the adaptability of the stimulation electrode to the underwater environment: electric stimulation experiments require a stable low-impedance electrical path between the electrode and the biological tissue. In the underwater environment, ordinary water acts as a conductor. If the connection part of the stimulation electrode and the connecting line has poor sealing, the interface will be exposed to water, causing short circuit, which will not only lead to waste of stimulation energy and decline of control accuracy, but also the leaked current may stimulate other parts of the turtle's body without selection, causing unpredictable stress behavior. The existing general electrode waterproof method usually only uses bone cement to seal a small area of the electrode implantation site, but this may cause the bone cement to invade the craniotomy wound, causing infection in the animal. Therefore, the electrode itself and its electrical connection components must achieve a highly reliable, long-term and biocompatible waterproof seal.

[0006] In summary, in the field of electric stimulation research of turtle bio-robots, there is no integrated solution that can simultaneously solve the two core technical problems of "anti-retraction stable fixation" and "biocompatible waterproofing". SUMMARY

[0007] The main purpose of the present application is to solve the contradiction between stability and animal instinct in the prior art, and the technical problem of strict electrical requirements in underwater environment. An electric stimulation control protection device for a turtle robot, comprising a neck biocompatible limiter, which is a sleeve structure and is composed of a rigid clamping part and a flexible limiting disc, the neck of the turtle robot passes through the rigid clamping part and the flexible limiting disc, the flexible limiting disc abuts against the carapace of the turtle robot, the rigid clamping part abuts against the skull of the turtle robot, the rigid clamping part limits the turtle robot from retracting, and the flexible limiting disc is used to ensure the freedom of the turtle robot in other directions.

[0008] The opening area of the neck biocompatible limiter is adjusted by a limiting screw 3a.

[0009] The inner wall of the neck biocompatible limiter is smooth and round.

[0010] The flexible limiting disc is made of TPU.

[0011] The electric stimulation control protection device further comprises a waterproof sealed electric stimulation module, the waterproof sealed electric stimulation module comprises an electric stimulation connector part 1b, a sleeve upper edge 2b, a sleeve lower edge 6b, a sealing ring groove 5b, a sleeve lower edge 6b, and a stimulation electrode 7b.

[0012] The electric stimulation connector part 1b is provided with a plurality of electrode interfaces 8b; the electric stimulation connector part 1b is fixedly arranged on the sleeve upper edge 2b, the sleeve lower edge 6b is fixedly connected with the sealing ring groove 5b; and the stimulation electrode 7b is arranged in the sleeve and connected with the electrode interfaces 8b.

[0013] The sleeve wall surface 3b is provided with a plurality of water guide grooves 4b.

[0014] The sealing ring groove 5b is provided with a sealing ring, which is in contact with the head of the turtle and is fixed.

[0015] The second aspect of the present application provides a use method of an electric stimulation control protection device for a turtle robot, comprising:

[0016] S1: Prepare the device and disinfect, connect the electric stimulation connector with the stimulation instrument, and test the electrode path;

[0017] S2: Anesthetize and stabilize the turtle robot, and monitor vital signs;

[0018] S3: Install the neck biocompatible limiter, adjust the position and lock;

[0019] S4: Place the turtle in the brain positioning instrument to determine the skull origin.

[0020] S5: Assemble waterproof sealed electric stimulation module, implant into specific location in turtle brain, fill with conductive gel and fix;

[0021] S6: Put turtle into pool, conduct electric stimulation experiment, monitor behavior;

[0022] S7: After experiment, disassemble device and clean.

[0023] In step S3, the installation of the neck biocompatible limiter includes putting the limiter from the side of the turtle's neck, adjusting the position to make the silicone pad fit the neck muscle area, and locking by screw.

[0024] In step S5, the implantation of the electric stimulation electrode includes drilling a hole on the turtle's skull, implanting the electrode into a specific location, and fixing the sleeve module with bone cement.

[0025] In step S6, the electric stimulation experiment includes releasing electric current of different frequencies and amplitudes to the electric stimulation module, and observing the movement behavior of the turtle.

[0026] The present application has the following beneficial effects:

[0027] The present application overcomes the strong retracting instinct of turtles through the dual structure design of "rigid clamping locking + flexible auxiliary buffering".

[0028] The mechanical protection, sealing performance and flow guiding performance of the waterproof sealed electric stimulation sleeve module of the present application ensure the position stability of the electrode under long-term intense activity and water flow impact. At the same time, the internal filling of conductive gel greatly reduces the infection rate of biological wounds, ensuring good waterproof performance and electrical safety. Considering biocompatibility and animal welfare, the device is made of medical grade materials.

[0029] The structural design of the present application fully considers the anatomical characteristics of turtles. The smooth inner wall and optimized clamping force prevent physical damage. The design without straps minimizes the restriction on animals. Compared with traditional methods, the stress level of animals is significantly reduced, which is more in line with the ethical requirements of modern animal experiments. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of the neck biocompatible limiter;

[0031] Figure 2 is a schematic diagram of a waterproof sealed electric stimulation sleeve;

[0032] Figure 3 is a schematic diagram of another perspective of the waterproof sealed electric stimulation sleeve;

[0033] Figure 4 is a schematic diagram of the installation of the turtle;

[0034] The reference signs are as follows:

[0035] The limit stop rigid clamping part 1a, the silica gel pad 2a, the M2 plastic screw (limiting) 3a, the flexible limit stop disc 4a, the M2 plastic screw (assembly) 5a, the rigid clamping and flexible auxiliary part connector 6a, the flexible auxiliary part 7a, the electric stimulation connector part 1b, the sleeve upper edge 2b, the sleeve wall surface 3b, the water guide groove 4b, the sealing ring groove 5b, the sleeve lower edge 6b, the stimulation electrode 7b, and the electrode interface 8b. DETAILED DESCRIPTION

[0036] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover a non-sequential process unless expressly indicated otherwise. Further, the use of terms such as "including", "comprising" or "having" and any variations thereof in the specification and claims are not intended to exclude other steps or elements not specifically recited. For the purposes of the present application, the expression "at least one of A and B" should be interpreted as "A or B or both A and B".

[0037] For the purpose of facilitating understanding, the specific flow of the embodiments of the present application is described below, please refer to Figure 1 The first embodiment of the electric stimulation control protection device for the turtle robot in the embodiments of the present application comprises:

[0038] The neck biocompatibility limit stop is a sleeve structure, which is composed of a rigid clamping part and a flexible limit stop disc, the neck of the turtle robot passes through the rigid clamping part and the flexible limit stop disc, the flexible limit stop disc abuts against the carapace of the turtle robot, the rigid clamping part abuts against the skull of the turtle robot, the rigid clamping part limits the turtle robot from retracting, and the flexible limit stop disc is used for ensuring the freedom of the turtle robot in other directions.

[0039] The opening area of the neck biocompatibility limit stop is adjusted by the limit screw 3a. The inner wall of the neck biocompatibility limit stop is smooth and round. The flexible limit stop disc is made of TPU.

[0040] The waterproof sealed electric stimulation module comprises an electric stimulation connector part 1b, a sleeve upper edge 2b, a sleeve lower edge 6b, a sealing ring groove 5b, the sleeve lower edge 6b, and a stimulation electrode 7b; the electric stimulation connector part 1b is provided with a plurality of electrode interfaces 8b; the electric stimulation connector part 1b is fixedly arranged on the sleeve upper edge 2b, the sleeve lower edge 6b is fixedly connected with the sealing ring groove 5b; and the stimulation electrode 7b is arranged in the sleeve and connected with the electrode interface 8b. The sleeve wall surface 3b is provided with a plurality of water guide grooves 4b. The sealing ring groove 5b is provided with a sealing ring which is in contact with the head of the turtle and fixed.

[0041] Specifically, refer to Figures 1 to 4 The embodiment provides an integrated device for bilateral neck muscle electric stimulation of adult red-eared turtles (Trachemys scripta elegans, carapace length of about 15-20 cm) to control the turning behavior of the turtles.

[0042] Device structure is described in detail:

[0043] Neck biocompatibility limiter: an open ring main body designed according to the anatomical features of the turtle neck. The limiter has two parts, the front end is composed of a rigid clamping outer wall and a silica gel inner wall, and is fixed at the widest part of the skull. The rear end is composed of flexible material (TPU), which maximizes the turtle's inability to retract its head, but has no restrictions on other directions. The up and down openings of the limiter switch are connected by M2 plastic screws, which not only ensure the lightweight of the structure, but also ensure the stability of the structure. The tightness of the screws can be adjusted according to the size of the circumference, and the locking is firm, which can adapt to the differences in neck circumference of different individuals, thereby providing continuous and stable locking force. The inner wall of the sleeve is smooth and round to prevent scratching the animal's skin.

[0044] Waterproof sealed electric stimulation sleeve module: This component is used in cooperation with the electric stimulation electrode. It is packaged as a whole in a conical barrel. The upper end is connected with the electric stimulation electrode part through bone cement, and the lower end is embedded in the sealing ring and in contact with the head of the turtle and fixed with bone cement. The inside of the sleeve is filled with conductive gel to reduce the impact of electrode fixation on the turtle. At the same time, four independent drainage channels are designed on the wall of the sleeve to facilitate rapid drainage and prevent water accumulation around the sleeve.

[0045] The use method of the electric stimulation control protection device for the turtle robot in the embodiment of the application is described as follows:

[0046] S1: Prepare the device and disinfect it, connect the electric stimulation connector with the stimulation instrument, and test the electrode channel;

[0047] S2: Anesthetize and stabilize the tortoise robot, monitor vital signs;

[0048] S3: Install a neck biocompatible limiter, adjust the position and lock it;

[0049] S4: Place the tortoise in a brain positioning instrument to determine the skull origin;

[0050] S5: Assemble the waterproof sealed electrical stimulation module, implant it in the specific location of the tortoise brain, fill it with conductive gel and fix it;

[0051] S6: Place the tortoise in the pool and conduct the electrical stimulation experiment, monitor the behavior;

[0052] S7: After the experiment, disassemble the device and clean it.

[0053] In step S3, the installation of the neck biocompatible limiter includes putting the limiter from the side of the tortoise's neck, adjusting the position so that the silicone pad fits the neck muscle area, and locking it with screws.

[0054] In step S5, the implantation of the electrical stimulation electrode includes drilling a hole on the tortoise's skull, implanting the electrode in a specific location, and fixing the sleeve module with bone cement.

[0055] In step S6, the electrical stimulation experiment includes releasing electrical current of different frequencies and amplitudes to the electrical stimulation module, and observing the movement behavior of the tortoise.

[0056] Specific application method and experimental process:

[0057] S1 (preparation): Disinfect the device with 75% alcohol. Connect the electrical stimulation connector to the Plexon multi-channel programmable constant current stimulator. Test the 16 channels through the software to confirm that the electrode path is normal.

[0058] S2 (induction and stabilization): Place a healthy red-eared turtle weighing about 3 kg on the operating table, and inject 0.05 ml / kg of Sutai 50 reagent into the front limbs for induction anesthesia. After induction of anesthesia, intubate the trachea and use the ventilator for forward ventilation. After observing that the red-eared turtle is stable, place it on a heating blanket to maintain body temperature, and monitor its heart rate with a Doppler heart rate monitor.

[0059] S3 (installation and locking): Hold the biocompatible neck limiter with the right hand, insert it from the right side of the tortoise's neck, adjust its position so that the silicone material on both sides adheres to the trapezius muscle area on both sides of the tortoise's neck, and ensure that the flexible neck plate tightly clamps the tortoise shell. Then fix the rigid clamp with M2 plastic screws. Then, immediately connect and lock the subsequent flexible components. Gently pull down the sleeve to ensure that it cannot be opened again and there is no obvious shaking. After installation is complete, as Figure 4 shown.

[0060] S4 (turtle brain positioning): The red-eared turtle with the device is lifted and placed in the turtle brain positioner, with the ear touching the middle ear. The origin of the red-eared turtle's skull is determined.

[0061] S5 (electrode implantation and encapsulation): The waterproof sealed electric stimulation sleeve module is combined with the Plexon electrode, and the connection point is sealed with bone cement. Then, the skull of the red-eared turtle is precisely drilled with a bone drill. The assembled Plexon electrode is implanted into a specific position of the brain, and biological conductive gel is injected into the sleeve. Finally, the sealing ring is fixed on the skull, and the connection between the sleeve and the skull is fixed with bone cement.

[0062] S6 (electric stimulation experiment): The red-eared turtle is placed in a 2m x 2m pool and allowed to swim freely for 5 minutes to adapt. Different frequencies and amplitudes of current are released to the electric stimulation module through the stimulator, and the movement of the red-eared turtle is monitored.

[0063] S7 (disassembly): After the experiment, the red-eared turtle is taken out. Then, the device is removed from the turtle's neck. No redness or indentation is found on the skin of the turtle's neck after cleaning. It can be used for the next experiment.

[0064] The above examples are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An electrical stimulation control protection device for a turtle robot, characterized by, The device includes a neck biocompatibility limiter, which is a sleeve structure and is composed of a rigid clamping part and a flexible limiting disc, the tortoise robot neck passes through the rigid clamping part and the flexible limiting disc, the flexible limiting disc abuts against the tortoise shell of the tortoise robot, the rigid clamping part abuts against the skull of the tortoise robot, the rigid clamping part limits the tortoise robot from retracting, and the flexible limiting disc is used to ensure the freedom of the tortoise robot in other directions.

2. An electrical stimulation control protection device for a turtle robot according to claim 1, wherein The opening area of the neck biocompatibility limiter is adjusted by a limiting screw.

3. The electrical stimulation control protection device for a turtle robot according to claim 1, wherein The inner wall of the neck biocompatibility limiter is smooth and round.

4. The electrical stimulation control protection device for a turtle robot according to claim 1, wherein The electric stimulation control protection device further includes a waterproof sealed electric stimulation module, which includes an electric stimulation connector part, a sleeve upper edge, a sleeve lower edge, a sealing ring groove, and a stimulation electrode.

5. An electrical stimulation control protection device for a turtle robot according to claim 4, wherein The electric stimulation connector part is provided with a plurality of electrode interfaces; the electric stimulation connector part is fixedly arranged on the sleeve upper edge, the sleeve lower edge is fixedly connected with the sealing ring groove; and the stimulation electrode is arranged in the sleeve and is connected with the electrode interfaces.

6. An electrical stimulation control protection device for a turtle robot according to claim 5, wherein The sleeve wall surface is provided with a plurality of water guide grooves.

7. An electrical stimulation control protection device for a turtle robot according to claim 6, wherein The sealing ring groove is provided with a sealing ring, which is in contact with the head of the tortoise and is fixed.

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