Method for improving rat cerebral apoplexy stable modeling through improved suture insertion
By integrating a precision guidance and insertion system and a real-time physiological parameter monitoring module, a stable rat stroke model was constructed, solving the problems of model instability and difficulty in standardizing experimental results, and improving the reliability and reproducibility of experimental results.
Patent Information
- Application Number
- CN202512041430.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-02-06
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The inherent variability and operator dependence in the construction of existing rat stroke models lead to model instability, difficulty in standardizing experimental results, and poor reproducibility.
It employs a precision guidance and insertion system, combined with a real-time physiological parameter monitoring and control module. It provides real-time visual guidance through a high-frequency miniature ultrasound imaging module, uses a suture plug miniature manipulator and a feeding mechanism to precisely control suture plug insertion, and combines closed-loop feedback control to achieve steady-state maintenance of physiological parameters. It is integrated with a control and visualization workstation for unified management.
This improved the accuracy and success rate of suture insertion, ensuring the stability of the rat stroke model and the reliability and reproducibility of experimental results, reducing internal model variability, and enhancing the reliability of preclinical studies.
Smart Images
Figure CN121465764A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of biomedical technology, in particular to a method for improving the stable modeling of rat stroke by improved line plug insertion. BACKGROUND
[0002] As a major cause of death and disability worldwide, stroke seriously threatens human health. Its pathogenesis is complex, and the treatment method is limited. Therefore, it is of great clinical significance to deeply study the pathophysiological process of stroke and develop new treatment strategies. Due to the heterogeneity of human stroke etiology and ethical restrictions, in the preclinical research stage, constructing a stable and reliable animal model to simulate the occurrence and development of human stroke is the cornerstone of promoting related research progress. Among them, rodents, especially rats, have become the most widely used animal model carriers in the field of stroke research due to their relatively clear genetic background, low feeding cost, certain similarity with human anatomy, and easy operation.
[0003] In the study of stroke models, line plug insertion is widely used, but its success rate and model stability have significant individual differences and operator dependence, which makes it difficult to standardize the model phenotype and seriously affects the credibility and repeatability of experimental results. In actual operation, factors such as depth of anesthesia and surgical stress can cause temporary disorder of these key indicators, thereby changing the tolerance of brain tissue to ischemia, ultimately affecting infarct volume and prognosis. All these deep contradictions together cause the rat stroke model constructed by traditional line plug insertion to often exhibit high postoperative mortality, unstable infarct volume, and significantly different neurological deficit evaluation results, making it difficult to achieve highly consistent experimental results among different experimental batches, different operators, and even different laboratories with the same experimental protocol. SUMMARY
[0004] In view of the shortcomings of the prior art, the present application provides a method for improving the stable modeling of rat stroke by improved line plug insertion, which solves the problem of inherent variability in the construction process of the existing rat stroke model.
[0005] To achieve the above purpose, the present application is implemented by the following technical scheme: a method for improving the stable modeling of rat stroke by improved line plug insertion comprises the following steps: A. Preoperative preparation, anesthetize the rat and fix it on the operation table, connect the multi-channel physiological sensor array of the physiological parameter real-time monitoring and control module, and start the closed-loop feedback control unit to pre-control the body temperature, blood pressure and blood oxygen saturation of the rat; B. Expose the rat's neck blood vessels, and sterilely connect the standardized line plug assembly to the line plug micro manipulator and the line plug holder of the feeding mechanism; C. The precision guidance and insertion system guides and inserts the wire plug, which includes a high-frequency micro-ultrasound imaging module, a wire plug micro-manipulator and a feeding mechanism for clamping and precisely controlling the insertion depth, angle and speed of the standardized wire plug assembly, and image guidance and control software running on a high-performance industrial control computer, which generates a virtual three-dimensional model of the optimal insertion path and target occlusion point of the wire plug and precisely inserts the tip of the standardized wire plug assembly into the origin of the middle cerebral artery of the rat brain until it occludes the head layer to achieve effective occlusion through closed-loop feedback control to drive the wire plug micro-manipulator; D. The standardized wire plug assembly is left in place for a preset ischemic time, during which the physiological parameter real-time monitoring and control module maintains the stability of key physiological indicators such as body temperature, blood pressure and blood oxygen saturation by receiving real-time data from a multi-channel physiological sensor array and executing multiple parallel PID control algorithms by a closed-loop feedback control unit; E. After the preset ischemic time, the standardized wire plug assembly is precisely withdrawn by the precision guidance and insertion system to achieve reperfusion and suture the incision.
[0006] Preferably, the precision guidance and insertion system includes: A high-frequency micro-ultrasound imaging module, which includes an ultrasonic transducer array and an ultrasonic signal processing unit; the ultrasonic transducer array uses high-frequency piezoelectric composite material with a center frequency of 30 MHz to 60 MHz, the transducer array is connected to the ultrasonic signal processing unit, and the ultrasonic signal processing unit receives the raw radio frequency signals generated by the transducer array through a flexible cable; A wire plug micro-manipulator and a feeding mechanism, which includes a wire plug micro-manipulator and a feeding mechanism; the wire plug micro-manipulator is composed of multiple degrees of freedom precision motion axes, and the end of the wire plug micro-manipulator is integrated with a wire plug clamping device.
[0007] Preferably, the core functions of the image guidance and control software include real-time ultrasound image display, automatic blood vessel structure identification, wire plug trajectory planning, real-time insertion depth calculation and display, and feedback control; the software uses computer vision and deep learning algorithms to process real-time ultrasound images, automatically identifies and marks the inner wall of the blood vessel, the blood vessel branch point and the position of the wire plug tip of the standardized wire plug assembly; the software can generate a virtual three-dimensional model of the optimal insertion path and target occlusion point of the standardized wire plug assembly, and continuously monitor the real-time position of the wire plug tip relative to the target occlusion point during the insertion of the standardized wire plug assembly, and according to the deviation calculation correction instruction, drive the wire plug micro-manipulator to fine-tune through the PID controller or adaptive control algorithm to ensure the precise insertion of the standardized wire plug assembly along the preset path.
[0008] Preferably, the standardized thread plug assembly comprises: a high-strength nylon monofilament core; a multi-layered precision coating structure, which comprises: a low-friction inner liner layer tightly wrapped around the outer layer of the nylon monofilament core, and an elastic blocking head layer located at the distal end of the standardized thread plug assembly, wrapped outside the low-friction inner liner layer.
[0009] Preferably, the standardized thread plug assembly further comprises: a proximal end guiding and visualizing marker, which is arranged in the non-blocking area of the proximal end of the standardized thread plug assembly, and adopts micron-level reflective or fluorescent markers; and a self-stabilizing locking mechanism integrated at the proximal end of the blocking head, which can be a micro-spiral spring or a mesh structure made of nitinol memory alloy.
[0010] Preferably, the real-time physiological parameter monitoring and regulation module comprises a multi-channel physiological sensor array; the array comprises: a body temperature sensor, a blood pressure sensor, a blood oxygen saturation sensor, and an electrocardiogram sensor.
[0011] Preferably, the real-time physiological parameter monitoring and regulation module further comprises: a closed-loop feedback control unit, which is an embedded microcontroller system running a real-time operating system, receiving real-time data input from the multi-channel physiological sensor array; an alarm and data recording module, which is integrated in the closed-loop feedback control unit, triggering audible and visual alarms when any physiological parameter exceeds the preset safety threshold, and all monitored physiological parameter data, control execution instructions, and time stamps are recorded in a high-reliability non-volatile memory in real time.
[0012] Preferably, the method is managed and coordinated through an integrated control and visualization workstation, which comprises: a high-performance computing platform, a graphical user interface, and an interlocking and safety mechanism; a data management and analysis system, which is responsible for centralized storage, indexing, and management of all sensor data, control parameters, operation logs, image data, and postoperative infarction volume, neurological function score, and other results, and provides data visualization tools and statistical analysis modules.
[0013] The present application provides a method for improving the stability of rat stroke model by improving thread plug insertion. Compared with the prior art, the present application has the following beneficial effects: 1. The improved method for improving the stability of rat stroke model by wire plug insertion, which provides real-time visual guidance through a high-frequency miniature ultrasonic imaging module, and combines the precise control of the wire plug miniature manipulator and the feeding mechanism, completely changing the blind insertion operation mode of the traditional wire plug insertion, which enables the operator to accurately determine the position, depth and angle of the wire plug tip in the blood vessel, ensuring that the wire plug accurately blocks the middle cerebral artery and avoids entering other blood vessel branches or damaging the blood vessel wall, thereby greatly improving the accuracy and success rate of wire plug insertion and fundamentally solving the model heterogeneity problem caused by wire plug position deviation.
[0014] 2. The improved method for improving the stability of rat stroke model by wire plug insertion, which realizes the automatic, closed-loop feedback maintenance of key physiological indicators such as body temperature, blood pressure and blood oxygen saturation of rats during the entire operation and ischemia-reperfusion period through the introduction of a physiological parameter real-time monitoring and control module, real-time data acquisition by high-precision sensors, and accurate control of heating, drug infusion or gas supply by an embedded control unit according to the preset target range, effectively avoiding the influence of intraoperative physiological state fluctuations on ischemia-reperfusion injury results. This steady-state control limits the fluctuation range of physiological parameters to a very narrow interval, ensuring the consistency of all experimental animals in terms of physiological conditions, thereby significantly reducing the internal variability of the model and improving the reliability and repeatability of experimental results.
[0015] 3. The improved method for improving the stability of rat stroke model by wire plug insertion, which combines all innovative modules organically through the construction of an integrated control and visualization workstation to form a highly automated and intelligent stroke model construction platform. The workstation not only provides an intuitive operation interface and real-time multi-modal data display, but also realizes comprehensive recording, quantitative evaluation and traceability management of each operation process through a data management and analysis system, providing a solid data foundation for model standardization and result comparison between different batches, different operators and even different laboratories. The rat stroke model constructed by the present application has a standardized level and repeatability, greatly improving the reliability of preclinical research and accelerating the process of stroke pathogenesis research and treatment drug development. BRIEF DESCRIPTION OF DRAWINGS
[0016] Fig. 1 The overall system block diagram of the present application is shown in the figure; Fig. 2 The structure diagram of the precise guidance and insertion system of the present application is shown in the figure; Fig. 3 The module block diagram of the integrated control and visualization workstation of the present application is shown in the figure. DETAILED DESCRIPTION
[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0018] Please see Figs. 1-3 This modified suture insertion technique for improving rat stroke stability provides three technical solutions: Includes the following steps: First implementation method: A. Perform preoperative preparation, which includes anesthetizing the rat and fixing it on the operating table, connecting a multi-channel physiological sensor array to the physiological parameter real-time monitoring and control module, and activating the closed-loop feedback control unit to pre-regulate the rat's body temperature, blood pressure and blood oxygen saturation; The real-time physiological parameter monitoring and regulation module includes a multi-channel physiological sensor array, which includes: The body temperature sensor uses a high-precision thermistor or platinum resistance probe, with a measurement range of 25°C to 45°C and an accuracy better than ±0.1°C. It is placed in the rectum of rats to monitor core body temperature. The blood pressure sensor uses a non-invasive tail-tube volumetric plethysmography sensor or a miniature pressure sensor to perform invasive direct blood pressure measurement via carotid artery cannulation, with a measurement frequency of not less than 50 Hz. The blood oxygen saturation sensor uses a pulse blood oxygen saturation probe specifically designed for small animals. It is clamped to the paw or tail of a rat to monitor blood oxygen saturation and heart rate in real time, with a response time of less than 2 seconds. It also includes an electrocardiogram (ECG) sensor, which uses a subcutaneous needle electrode or a surface patch electrode and is connected to a biosignal amplifier to monitor heart rate, heart rhythm, and ECG waveforms.
[0019] B. Expose the blood vessels in the rat's neck and aseptically connect the standardized suture thimble assembly to the suture thimble micromanipulator and the suture thimble holder of the feeding mechanism; The standardized suture assembly includes: a high-strength nylon monofilament core, the core material of which is medical-grade nylon 6 / 6 monofilament with a diameter between 0.18 mm and 0.26 mm; A multi-layer precision coating structure, the coating structure comprising: a low-friction inner liner layer tightly wrapped outside the nylon monofilament core, the low-friction inner liner layer being a poly-p-xylylene or polytetrafluoroethylene film deposited by chemical vapor deposition or atomic layer deposition technology, with a thickness controlled between 5 microns and 15 microns; and an elastic blocking head layer located at the distal end of the standardized thread plug assembly, wrapped outside the low-friction inner liner layer, the blocking head being made of medical-grade silicone elastomer material with a Shore A hardness ranging from 20 to 30, the blocking head being manufactured by precision mold injection molding or automated dip coating process, ensuring that its shape, size and surface uniformity reach a very high precision, the distal end of the blocking head having a maximum diameter between 0.28 mm and 0.34 mm to match the inner diameter of the middle cerebral artery of a rat, the mold being manufactured using ultra-precision machining technology to ensure that the geometric tolerance of the blocking head profile is controlled within ± 5 microns.
[0020] The standardized thread plug assembly further comprises: a proximal end guiding and visualizing marker, provided in the non-blocking area of the proximal end of the standardized thread plug assembly, using micron-level reflective or fluorescent markers to facilitate more accurate thread plug tracking and visualization by the high-frequency miniature ultrasonic imaging module during imaging, enhancing the identification of the thread plug tip; A self-stabilizing locking mechanism integrated at the proximal end of the blocking head, the self-stabilizing locking mechanism being a miniature spiral spring or mesh structure made of nitinol memory alloy, which is in a contracted state at room temperature, and gradually expands at physiological temperature through the shape memory effect, providing a slight radial support force to the distal end of the blocking head, thereby increasing its contact stability with the blood vessel wall without causing significant vessel dilation or damage.
[0021] C. Guiding and inserting the thread plug through a precision guiding and inserting system, the precision guiding and inserting system comprising: a high-frequency miniature ultrasonic imaging module for acquiring real-time ultrasonic images of the rat's common carotid artery, internal carotid artery, external carotid artery, and the initial part of the middle cerebral artery; a thread plug miniature mechanical hand and feeding mechanism for clamping and accurately controlling the insertion depth, angle and speed of the standardized thread plug assembly; and image-guided and control software running on a high-performance industrial control computer, processing real-time ultrasonic images to automatically identify blood vessel structures and the position of the thread plug tip of the standardized thread plug assembly, generating a virtual three-dimensional model of the optimal insertion path of the thread plug and the target blocking point according to the pre-set rat brain blood vessel dissection model and preoperative planning data, and driving the thread plug miniature mechanical hand through closed-loop feedback control to accurately insert the thread plug tip of the standardized thread plug assembly into the initial part of the rat's middle cerebral artery until the blocking head layer achieves effective blocking; A high-frequency miniature ultrasonic imaging module, the module comprising an ultrasonic transducer array and an ultrasonic signal processing unit; the ultrasonic transducer array adopts a high-frequency piezoelectric composite material with a center frequency of 30 MHz to 60 MHz, which can provide an axial resolution better than 50 microns and a lateral resolution better than 100 microns; the transducer array is connected with the ultrasonic signal processing unit, the ultrasonic signal processing unit receives the raw radio frequency signals generated by the transducer array through a flexible cable, and performs digital beamforming, gain control, time gain compensation, filtering, envelope detection and image reconstruction to ensure that the image frame rate is not less than 30 frames per second, thereby providing smooth real-time blood vessel images; A wire plug miniature manipulator and a feeding mechanism, the mechanism comprising a wire plug miniature manipulator and a feeding mechanism; the wire plug miniature manipulator is composed of multiple degrees of freedom precision motion axes, each of which is driven by a high-precision stepping motor or a piezoelectric motor, combined with a closed-loop feedback encoder, to achieve micron-level positioning accuracy; the wire plug miniature manipulator is integrated with a wire plug gripper at the end, which adopts an adjustable spring or electromagnetic force clamping mechanism to ensure stable and moderate clamping force on the standardized wire plug assembly during wire plug insertion; the feeding mechanism is integrated with the wire plug miniature manipulator, with a stepping resolution not higher than 1 micron, and the feeding speed can be adjusted steplessly in the range of 0.01 mm / s to 1 mm / s; The core functions of the image guidance and control software include: real-time ultrasonic image display, automatic blood vessel structure recognition, wire plug trajectory planning, real-time insertion depth calculation and display, and feedback control; the software uses computer vision and deep learning algorithms to process real-time ultrasonic images, automatically recognize and mark the inner wall of the blood vessel, the blood vessel branch point, and the wire plug tip position of the standardized wire plug assembly; according to the pre-set rat brain blood vessel dissection model and preoperative planning data, the software can generate the best insertion path of the standardized wire plug assembly and the virtual three-dimensional model of the target occlusion point; during the insertion of the standardized wire plug assembly, the software continuously monitors the real-time position of the wire plug tip relative to the target occlusion point, and according to the deviation, calculates the correction instruction, drives the wire plug miniature manipulator to fine-tune through the PID controller or adaptive control algorithm, and ensures the accurate insertion of the standardized wire plug assembly along the preset path.
[0022] D. The standardized wire plug assembly is left for a preset ischemic time, during which the physiological parameter real-time monitoring and control module maintains the stability of key physiological indicators such as body temperature, blood pressure and blood oxygen saturation of the rat, the physiological parameter real-time monitoring and control module receives real-time data from a multi-channel physiological sensor array, and a closed-loop feedback control unit executes multiple parallel PID control algorithms for accurate control; A closed-loop feedback control unit, which is an embedded microcontroller system running a real-time operating system, receives real-time data input from a multi-channel physiological sensor array and executes multiple parallel PID control algorithms for precise regulation of body temperature, blood pressure, and blood oxygen saturation, respectively; for body temperature regulation, the control unit controls the output power of an infrared heating lamp or a servo-controlled heating pad according to the deviation between the set temperature and the real-time measured temperature through a pulse width modulation signal; for blood pressure regulation, the control unit controls the sample injection speed of a micro-injection pump according to the deviation between the set mean arterial pressure and the real-time measured value, for precise infusion of vasoactive drugs or physiological saline; for blood oxygen saturation regulation, the control unit adjusts the oxygen concentration or flow rate supplied to the rat by controlling a flow regulating valve according to the deviation between the set SpO2 (blood oxygen saturation) value and the real-time measured value; An alarm and data recording module integrated in the closed-loop feedback control unit triggers an audible and visual alarm when any physiological parameter exceeds the preset safety threshold, and all monitored physiological parameter data, control execution instructions, and time stamps are recorded in real time in a high-reliability non-volatile memory.
[0023] E. After the preset ischemic time, the standardized coil assembly is precisely removed by the precision guiding and inserting system to achieve reperfusion and suture the incision.
[0024] The real-time visual guidance provided by the high-frequency miniature ultrasonic imaging module, combined with the precise control of the coil micro-manipulator and the feeding mechanism, completely changes the blind insertion operation mode of traditional coil insertion, enabling the operator to accurately determine the position, depth, and angle of the coil tip in the blood vessel, ensuring accurate occlusion of the middle cerebral artery and avoiding misentry into other blood vessel branches or damage to the blood vessel wall, thereby greatly improving the accuracy and success rate of coil insertion and fundamentally solving the model heterogeneity problem caused by coil position deviation.
[0025] The introduction of the physiological parameter real-time monitoring and control module enables the automatic and closed-loop feedback maintenance of key physiological indicators such as body temperature, blood pressure, and blood oxygen saturation during the entire operation and ischemia-reperfusion of the rat. Real-time data are acquired by high-precision sensors, and the embedded control unit accurately regulates heating, drug infusion, or gas supply according to the preset target range, effectively avoiding the impact of intraoperative physiological state fluctuations on ischemia-reperfusion injury results. This steady-state control limits the fluctuation range of physiological parameters to a very narrow interval, ensuring the consistency of all experimental animals in terms of physiological conditions, thereby significantly reducing the internal variability of the model and improving the reliability and repeatability of experimental results.
[0026] The second implementation method differs from the first in that: this modified suture insertion technique for improving rat stroke stability also utilizes an integrated control and visualization workstation for unified management and coordination. The workstation includes: The high-performance computing platform is based on an industrial-grade high-performance computer, equipped with a multi-core processor, large-capacity memory and professional-grade graphics processing unit to support the parallel operation of complex real-time image processing, multi-channel data analysis and precise control algorithms; The graphical user interface provides an integrated display platform that simultaneously displays real-time vascular images from the high-frequency miniature ultrasound imaging module, the real-time position and trajectory of the standardized suture assembly, real-time physiological parameter curves, the status of various control commands, and historical data trends. The interface allows operators to set the insertion target depth and angle of the standardized suture assembly, the setting range of physiological parameters, and emergency thresholds. The data management and analysis system is responsible for the centralized storage, indexing and management of all sensor data, control parameters, operation logs, image data and results such as postoperative infarct volume and neurological function scores, and provides data visualization tools and statistical analysis modules. The system features an interlocking and safety mechanism with built-in multi-level software and hardware interlocking functions. When a risk of vascular wall damage or drastic fluctuations in physiological parameters are detected during the insertion of the standardized suture assembly, the system automatically pauses the suture feeding and prompts the operator to intervene. It also provides an emergency stop button and fault diagnosis function.
[0027] By integrating control and visualization workstations, all innovative modules are organically combined to form a highly automated and intelligent stroke model construction platform. This workstation not only provides an intuitive interface and real-time multimodal data display, but also achieves comprehensive recording, quantitative evaluation, and traceability management of each surgical procedure through a data management and analysis system. This provides a solid data foundation for model standardization and result comparison between different batches, operators, and even laboratories. It ensures that the rat stroke model constructed using this invention has a standardized level and reproducibility, greatly improving the reliability of preclinical research and accelerating the research on the pathogenesis of stroke and the development of therapeutic drugs.
[0028] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.
[0029] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A method for improving the stability of rat stroke models through modified suture insertion, characterized in that: Includes the following steps: A. Preoperative preparation: Anesthetize the rats and fix them on the operating table. Connect the multi-channel physiological sensor array of the physiological parameter real-time monitoring and control module, and start the closed-loop feedback control unit to pre-regulate the rats' body temperature, blood pressure and blood oxygen saturation. B. Expose the blood vessels in the rat's neck and aseptically connect the standardized suture thimble assembly to the suture thimble micromanipulator and the suture thimble holder of the feeding mechanism; C. The suture plug is guided and inserted using a precision guidance and insertion system, which includes: a high-frequency miniature ultrasound imaging module, a suture plug micro-manipulator and feeding mechanism for gripping and precisely controlling the insertion depth, angle and speed of the standardized suture plug assembly; and image guidance and control software, which runs on a high-performance industrial control computer. The software generates a virtual 3D model of the optimal insertion path and target occlusion point of the suture plug, and drives the suture plug micro-manipulator through closed-loop feedback control to insert the tip of the standardized suture plug assembly into the origin of the middle cerebral artery in the rat until effective occlusion is achieved in the cerebrospinal layer. D. A standardized suture embolization assembly is placed within a preset ischemic time. During this time, the rat's body temperature, blood pressure, and blood oxygen saturation are kept at a steady state through a real-time physiological parameter monitoring and control module. The real-time physiological parameter monitoring and control module receives real-time data from a multi-channel physiological sensor array and is precisely controlled by a closed-loop feedback control unit that executes multiple parallel PID control algorithms. E. After a preset ischemia time, the standardized suture assembly is precisely withdrawn using a precision guidance and insertion system to achieve reperfusion, and the incision is then sutured.
2. The method for improving rat stroke stability through modified suture insertion as described in claim 1, characterized in that: The precision guidance and insertion system includes: A high-frequency miniature ultrasound imaging module includes an ultrasound transducer array and an ultrasound signal processing unit. The ultrasound transducer array is made of high-frequency piezoelectric composite material with a center frequency of 30 MHz to 60 MHz. The transducer array is connected to the ultrasound signal processing unit, which receives the raw radio frequency signal generated by the transducer array through a flexible cable. A wire-locking micro-manipulator and a feeding mechanism, the mechanism comprising a wire-locking micro-manipulator and a feeding mechanism; the wire-locking micro-manipulator consists of multiple degrees of freedom precision motion axes, and a wire-locking clamp is integrated at the end of the wire-locking micro-manipulator.
3. The method for improving rat stroke stability modeling using modified suture insertion technique according to claim 2, characterized in that: The core functions of the image guidance and control software include: real-time ultrasound image display, automatic vascular structure recognition, suture trajectory planning, real-time calculation and display of insertion depth, and feedback control. The software uses computer vision and deep learning algorithms to process real-time ultrasound images, automatically identifying and marking the inner wall of the blood vessel, vascular branch points, and the suture tip position of the standardized suture assembly. The software can generate a virtual three-dimensional model of the optimal insertion path and target blockage point of the standardized suture assembly. During the insertion of the standardized suture assembly, the software continuously monitors the real-time position of the suture tip relative to the target blockage point and calculates correction instructions based on the deviation. Through a PID controller or adaptive control algorithm, it drives the suture micro-manipulator to perform fine-tuning, ensuring that the standardized suture assembly is accurately inserted along the preset path.
4. The method for improving rat stroke stability modeling using modified suture insertion technique according to claim 1, characterized in that: The standardized bolt assembly includes: High-strength nylon monofilament core; The multi-layer precision coating structure includes: a low-friction inner liner tightly covering the outer layer of the nylon monofilament core, and an elastic blocking head layer located at the distal end of the standardized wire plug assembly and covering the low-friction inner liner.
5. The method for improving rat stroke stability modeling using modified suture insertion technique according to claim 4, characterized in that: The standardized bolt assembly also includes: Proximal guidance and visualization markings are set in the proximal non-blocking area of the standardized wire bolt assembly, using micron-level reflective or fluorescent markings; And a self-stabilizing locking mechanism, integrated into the proximal end of the blocking head, wherein the self-stabilizing locking mechanism may be a miniature helical spring or a mesh structure made of nickel-titanium shape memory alloy.
6. The method for improving rat stroke stability modeling using modified suture insertion technique according to claim 1, characterized in that: The real-time physiological parameter monitoring and control module includes a multi-channel physiological sensor array, which includes a body temperature sensor, a blood pressure sensor, a blood oxygen saturation sensor, and an electrocardiogram sensor.
7. The method for improving rat stroke stability modeling using modified suture insertion technique according to claim 6, characterized in that: The real-time physiological parameter monitoring and regulation module also includes: A closed-loop feedback control unit, wherein the control unit is an embedded microcontroller system running a real-time operating system, and receives real-time data input from the multi-channel physiological sensor array; An alarm and data recording module is integrated into the closed-loop feedback control unit. When any physiological parameter exceeds a preset safety threshold, an audible and visual alarm is triggered. At the same time, all monitored physiological parameter data, control execution commands, and timestamps are recorded in real time into a highly reliable non-volatile memory.
8. The method for improving rat stroke stability through modified suture insertion technique according to claim 1, characterized in that: The method achieves unified management and coordination through an integrated control and visualization workstation, which includes: a high-performance computing platform, a graphical user interface, and interlocking and security mechanisms. The system also includes a data management and analysis system, which is responsible for the centralized storage, indexing and management of all sensor data, control parameters, operation logs, image data, postoperative infarct volume, and neurological function scores, and provides data visualization tools and statistical analysis modules.