A kind of adsorption type autonomous brain positioning device suitable for rats and mice

Abstract

The application relates to the technical field of biological experiment equipment, and discloses an adsorption type autonomous brain positioning device suitable for rats and mice, which comprises a constant-temperature base, a support is arranged at the top of the constant-temperature base, a suspension arm is hingedly arranged at the top of the support, a negative pressure gradient adsorption fixing module is connected to the lower end of the suspension arm, an adsorption groove is arranged at the top of the negative pressure gradient adsorption fixing module, an adsorption array module is arranged in the adsorption groove, a three-dimensional laser scanning module is arranged at one side of the top of the support, a telescopic clamping assembly is arranged at one side of the upper end of the support, an integrated control terminal is arranged at one side of the top of the constant-temperature base; the negative pressure gradient distribution of the bionic adsorption array avoids temporal bone deformation and ear canal injury, and improves positioning accuracy; the hinged structure is adopted to eliminate shielding and adapt to compact scenes; the three-dimensional laser scanning module and automatic positioning are used to realize intelligent avoidance; a neodymium iron boron permanent magnet and a heat preservation layer are used to meet the requirements of movement and body temperature maintenance; the intelligentization and quick-change interface are used to simplify operation, and the experimental efficiency and reliability are comprehensively improved.

Description

Technical Field

[0001] This invention relates to the field of biological experimental equipment technology, and in particular to an adsorption-type autonomous brain localization device suitable for mice and rats. Background Technology

[0002] Stereotactic brain mapping is a core experimental technique in neuroscience, pharmacology, and brain-computer interface research. This technique establishes a three-dimensional reference coordinate system on the surface of the skull of experimental animals, enabling precise localization of specific brain regions for procedures such as electrophysiological recording, micro-drug injection, optogenetic stimulation, or brain tissue sampling. The accuracy and stability of this localization directly affect the reliability and reproducibility of experimental data.

[0003] Traditional brain localization instruments typically rely on the theoretical framework established by Paxinos and other scholars, using cranial bony landmarks (such as Bregma and Lambda) to construct a three-dimensional coordinate system. Regarding animal fixation, traditional brain localization instruments employ a three-point mechanical clamping scheme using the ear rod and incisor plate, combined with a mechanical slide for positioning. This technical approach has significant drawbacks. Firstly, insufficient mechanical stability and prolonged ear rod clamping can cause elastic deformation of the temporal bone, potentially leading to brain structural displacement. This not only fails to meet the stringent positioning accuracy requirements of cutting-edge research such as optogenetics and single-cell recording but also causes damage to the ear canal. First, injuries introduce variables other than surgery. Second, the ear rods and supports obscure a large area of ​​the skull surface, severely limiting the experimental space and making them unsuitable for compact experimental settings such as MRI and two-photon microscopy, thus hindering in-depth research and technological integration and innovation. Third, the operation is highly complex, specifically requiring manual insertion of the two ear rods into the ear canal, adjustment of the incisor plate distance, leveling of the skull plane, and disassembly of the support to switch brain regions. Fourth, there is no automatic compensation mechanism for respiratory movements; the periodic displacement of the skull caused by the animal's respiration makes sub-millimeter-level stable positioning impossible with manual intervention.

[0004] Studies have shown that traditional ear rod clamping force (2N–5N) can cause 10μm–50μm elastic deformation of the rat skull, leading to systematic shifts in brain structure. Only about 30% of electrodes can accurately hit the target subnucleus (average positioning deviation of about 1 mm), and the position of the Bregma point can vary by up to 2 mm between individuals of different strains / weights. Therefore, the "one-size-fits-all" positioning based on a universal coordinate system can no longer meet the needs of sub-millimeter precision experiments such as optogenetics and single-cell recording. There is an urgent need to establish a personalized brain coordinate system adapted to the differences in skull morphology of each animal through individualized three-dimensional scanning in order to eliminate systematic positioning deviations caused by skull deformation and individual anatomical variations. Summary of the Invention

[0005] In view of the existing traditional brain localization instrument, which adopts a three-point fixation method of ear rod-incisor plate combined with mechanical slide positioning, there are problems such as poor mechanical stability, easy to cause temporal bone deformation and ear canal damage, low positioning accuracy, ear rod and support obstructing the skull surface and affecting the operating space, difficulty in adapting to compact experimental scenarios, inability to automatically compensate for respiratory interference, and cumbersome and complex operation steps. Therefore, this invention is proposed.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an adsorption-type autonomous brain localization device suitable for mice and rats, comprising a constant temperature base, a support on one side of the top of the constant temperature base, a suspension arm hinged to the top of the support, a negative pressure gradient adsorption fixing module connected to the lower end of the suspension arm, an adsorption groove on the top of the negative pressure gradient adsorption fixing module, an adsorption array module integrated in the adsorption groove, a high-frequency pressure sensor integrated in the adsorption array module, a three-dimensional laser scanning module on one side of the top of the support, a telescopic clamping assembly on one side of the upper end of the support, and an integrated control terminal on the top of the constant temperature base and one side of the support.

[0007] As a preferred embodiment, the bottom of the adsorption array module is provided with a magnetic coupling part, the adsorption groove is provided with a magnetic coupling interface adapted to the magnetic coupling part, the lower part of the adsorption array module is provided with a spring pin contact, the adsorption groove is provided with an electrical contact adapted to the spring pin contact, and the electrical contact is electrically connected to the integrated control terminal. The integrated control terminal has a built-in PID control algorithm, which can dynamically adjust the adsorption negative pressure according to the pressure sensor data.

[0008] As a preferred embodiment, a ball joint is fixedly connected to the upper end of the suspension arm, a hinge seat is provided above the ball joint, and a connecting groove adapted to the ball joint is opened at the lower end of the hinge seat, and the ball joint and the hinge seat are movably connected.

[0009] As a preferred embodiment, the bracket includes a vertical rod, which is fixedly installed on the top of the constant temperature base. The upper end of the vertical rod is provided with a self-locking hinge for adjusting the height of the suction cup. A horizontal rod is hinged to one side of the mounting groove. The bottom of the horizontal rod is fixedly connected to the hinge seat. The horizontal rod and the vertical rod are provided with wiring grooves. The self-locking hinge is a titanium-nickel shape memory alloy hinge.

[0010] As a preferred embodiment, the telescopic clamping assembly includes a telescopic rod, and a storage groove is provided at the end of the crossbar away from the self-locking hinge. The telescopic rod is fixedly installed in the storage groove, and a clamping claw is connected to the telescopic end of the telescopic rod.

[0011] As a preferred embodiment, the integrated control terminal has a display screen on one side, and an earpiece and a speaker are respectively embedded in the upper and lower parts of the front side of the integrated control terminal. From left to right, control switch one, control switch two and control switch three are arranged on the front side of the integrated control terminal away from the earpiece. Several indicator lights are provided on one side of the integrated control terminal.

[0012] As a preferred embodiment, the first control switch is electrically connected to the adsorption array module, the second control switch is electrically connected to the three-dimensional laser scanning module, and the third control switch is electrically connected to the telescopic rod.

[0013] As a preferred embodiment, a connecting sleeve is fitted on the outer side of the lower end of the suspension arm, and the inner wall of the connecting sleeve is threadedly connected to the outer wall of the lower end of the suspension arm. The lower end of the connecting sleeve is fixedly connected to the negative pressure gradient adsorption and fixing module.

[0014] As a preferred embodiment, the constant temperature base is a neodymium iron boron permanent magnet, the outer wall of the constant temperature base is provided with an alumina ceramic insulation layer, and a heat preservation switch is provided on one side of the constant temperature base.

[0015] Working principle The core innovation of this invention lies in constructing a closed-loop working system of "negative pressure gradient adsorption fixation - three-dimensional laser scanning module - brain atlas adaptive registration - local adsorption and release". Specifically: First, based on the hyperboloid geometry and stress distribution characteristics of the sutures of rodent skulls, a non-uniform negative pressure adsorption field with a spatial gradient distribution is formed on the skull surface using arrayed and independently controllable multi-channel micro-suction cups. That is, a larger adsorption force is applied to high-stress areas such as sutures and curved transitions, while a smaller adsorption force is applied to flat areas. This replaces the traditional point / line contact mechanical clamping with distributed surface contact adsorption, achieving stable fixation while avoiding skull deformation caused by stress concentration. Second, the three-dimensional morphology of the skull surface of the experimental animal is obtained using a three-dimensional laser scanning module. The brain atlas registration unit built into the integrated control terminal automatically registers the scanned point cloud data with a standard brain atlas based on suture and curvature characteristics, establishing a personalized three-dimensional brain coordinate system adapted to the individual. This solves the problem of individual bias caused by direct mapping using a universal coordinate system in traditional equipment (individual bias is very common in rodents). Finally, after determining the coordinates of the skull surface site corresponding to the target brain region, the adsorption control unit automatically releases the specific micro-suction cup covering that site, while maintaining the continuous adsorption of the remaining suction cups. This creates an operating window at the target location without compromising overall fixation stability—a strategy of "overall adsorption + local release" that traditional mechanical clamping methods cannot achieve.

[0016] The essential difference from existing technologies It is important to emphasize that this invention is not a simple superposition of known technologies such as "negative pressure adsorption," "3D laser scanning module," "multi-joint arm," and "temperature-controlled base." Rather, in the specific application scenario of brain localization, based on an in-depth analysis of the essential issues such as the biomechanical characteristics of the skull and the general individual morphological differences, it creatively constructs a closed-loop system with synergistic effects and functional coupling among the various technologies, making full use of modern technological means. Negative pressure gradient adsorption, drawing inspiration from the strong adsorption effect of octopus suction cups, achieves stable fixation through biomimetic design, forming the basis for non-destructive fixation. The 3D laser scanning module and brain map registration are the core of achieving individualized precise localization, while the coordinated control of "overall adsorption + local release" is the key manifestation of their synergistic effect—which suction cup to release, the timing and range of release are entirely driven by the scanning registration results; and the accuracy of the scanning registration depends on the non-deformable fixation conditions of the skull provided by gradient adsorption. This bidirectional, synergistic system architecture makes the overall technical effect of this invention exceed the simple sum of the individual effects of its components, exhibiting non-obviousness.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: 1. This invention uses a biomimetic adsorption array to replace the traditional ear rod fixation method. Through the negative pressure gradient distribution of the adsorption array module, it effectively avoids the problem of temporal bone elastic deformation caused by ear rod clamping, effectively reduces the skull deformation rate, greatly reduces brain structure deviation, and thus significantly improves positioning accuracy. It can fully meet the stringent requirements of high-precision positioning for cutting-edge research such as optogenetics and single-cell recording, and solves the problem of ear canal damage and other variable factors besides surgery.

[0018] 2. This invention abandons the design of ear rods and supports, and uses a biomimetic adsorption array to fix the animal's head. By hinged between the suspension arm and the support, the negative pressure gradient adsorption fixation module and the adsorption array module can be rotated, thereby changing the operating position and avoiding obstruction. This completely eliminates the problem of traditional ear rods and supports obstructing the surface area of ​​the skull, no longer restricting the experimental operating space. It can be perfectly adapted to compact experimental scenarios such as MRI and two-photon microscopy, providing a broader space for in-depth research integrating multiple technologies.

[0019] 3. This invention can scan the skull using a three-dimensional laser scanning module and transmit the data to an integrated control terminal. After processing by the analysis system within the terminal, a corresponding coordinate system can be automatically established, and the coordinates of the required position can be located as needed. This allows the adsorption array module at the corresponding coordinates to be closed and avoided, so that the drilling operation of the skull drill can be performed.

[0020] 4. This invention uses neodymium iron boron permanent magnets to facilitate the movement and fixation of the equipment, making it suitable for mobile experimental scenarios. The alumina ceramic insulation layer can maintain the body temperature stability of anesthetized animals, avoid hypothermia, and reduce experimental deviations caused by metabolic interference.

[0021] 5. This invention replaces the traditional manual adjustment process with an intelligent automatic positioning system and quick-change interface design. It eliminates the need to manually place the ear rods, adjust the gear plates, and disassemble the bracket, achieving one-click quick positioning and array plate switching, greatly simplifying the operation steps and significantly improving experimental efficiency and convenience.

[0022] 6. This invention uses a 1kHz high-frequency pressure sensor in conjunction with a PID control algorithm to monitor the force and displacement of the skull in real time, dynamically adjust the adsorption negative pressure, suppress the displacement caused by respiration to ±0.005mm, reduce respiratory interference, and provide stable mechanical protection for high-precision intracranial operations such as those involving the hippocampus. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural diagram of the crossbar, gripper, and suspension arm of the present invention; Figure 3 This is a schematic diagram of the structure between the suspension arm and the hinge seat of the present invention; Figure 4 This is a schematic diagram of the structure between the suspension arm and the negative pressure gradient adsorption fixing module of the present invention; Figure 5 This is a schematic diagram of the negative pressure gradient adsorption fixation module, adsorption tank, and adsorption array module of the present invention; Figure 6 This is a schematic diagram of the adsorption array module of the present invention.

[0024] Explanation of reference numerals in the attached figures: 1. Constant temperature base; 2. Bracket; 3. Suspension arm; 4. Negative pressure gradient adsorption fixing module; 5. Adsorption tank; 6. Adsorption array module; 7. 3D laser scanning module; 8. Magnetic coupling part; 9. Spring pin contact; 10. Magnetic coupling interface; 11. Electrical contact; 12. Integrated control terminal; 13. Connecting sleeve; 14. Hinge seat; 15. Ball head; 16. Connecting groove; 17. Vertical rod; 18. Horizontal rod; 19. Self-locking hinge; 20. Telescopic rod; 21. Gripper; 22. Storage slot; 23. Earpiece; 24. Speaker; 25. Control switch one; 26. Control switch two; 27. Control switch three; 28. Indicator light. Detailed Implementation

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] Reference Figures 1-6 As shown, an adsorption-type autonomous brain localization device suitable for mice and rats is provided, including a constant temperature base 1, a support 2 on one side of the top of the constant temperature base 1, a suspension arm 3 hinged to the top of the support 2, a negative pressure gradient adsorption fixation module 4 connected to the lower end of the suspension arm 3, an adsorption groove 5 opened on the top of the negative pressure gradient adsorption fixation module 4, an adsorption array module 6 arranged in the adsorption groove 5, a three-dimensional laser scanning module 7 arranged on one side of the top of the support 2, a telescopic clamping assembly arranged on one side of the upper end of the support 2, and an integrated control terminal 12 arranged on the top of the constant temperature base 1 on one side of the support 2; by hinged to the support 2 through the suspension arm 3, the negative pressure gradient adsorption fixation module 4 and the adsorption array module 6 can be rotated to change the operating position to avoid obstruction; the three-dimensional laser scanning module 7 scans the skull data and transmits it to the integrated control terminal 12, automatically establishes a coordinate system and positions it, realizes intelligent operation, and reduces human error.

[0027] In this example, the bottom of the adsorption array module 6 is provided with a magnetic coupling part 8, and the adsorption groove 5 is provided with a magnetic coupling interface 10 adapted to the magnetic coupling part 8. The lower part of the adsorption array module 6 is provided with a spring pin contact 9, and the adsorption groove 5 is provided with an electrical contact 11 adapted to the spring pin contact 9. The electrical contact 11 is electrically connected to the integrated control terminal 12. The magnetic coupling part 8 and the magnetic coupling interface 10 cooperate, and the spring pin contact 9 is connected to the electrical contact 11, so as to realize the quick replacement and electrical connection of the adsorption array module 6 and meet different experimental needs.

[0028] In this example, a ball head 15 is fixedly connected to the upper end of the suspension arm 3, and a hinge seat 14 is provided above the ball head 15. A connecting groove 16 adapted to the ball head 15 is opened at the lower end of the hinge seat 14, and the ball head 15 is movably connected to the hinge seat 14. The movable connection between the ball head 15 and the hinge seat 14 provides the suspension arm 3 with flexible multi-angle adjustment function, further optimizes the operating space, and adapts to complex experimental operations.

[0029] In this example, the bracket 2 includes a vertical rod 17, which is fixedly installed on the top of the constant temperature base 1. The upper end of the vertical rod 17 is provided with a self-locking hinge 19 for adjusting the height of the suction cup. A horizontal rod 18 is hinged to one side of the mounting groove 19. The bottom of the horizontal rod 18 is fixedly connected to the hinge seat 14. The horizontal rod 18 and the vertical rod 17 are provided with wiring channels. The self-locking hinge 19 is a titanium-nickel shape memory alloy hinge. The titanium-nickel shape memory alloy self-locking hinge 19 facilitates the adjustment of the angle of the bracket 2 and maintains stability after fixing. The wiring channel is designed to keep the wiring neat and avoid tangling, thereby improving the safety and cleanliness of the equipment. The self-locking hinge 19 allows the height of the suction cup to be adjusted according to the size of the mouse's head, so that the mouse's head can gently touch the constant temperature base 1, thereby reducing the suction force of the suction cup.

[0030] In this example, the telescopic clamping assembly includes a telescopic rod 20. A storage slot 22 is provided at the end of the crossbar 18 away from the self-locking hinge 19. The telescopic rod 20 is fixedly installed in the storage slot 22. The telescopic end of the telescopic rod 20 is connected to a gripper 21. In this example, when using a micro-injector, the gripper 21 can be used to vertically align with the avoidance point of the adsorption array and clamp and fix it. According to the real-time positioning depth of the three-dimensional laser scanning module 7, one end of the micro-injector is inserted into the corresponding depth position of the skull to complete the injection, so that the injector is parallel to the suspension arm 3. The telescopic clamping assembly can adjust the telescopic length according to the avoidance point of the adsorption array to clamp and fix the micro-injector, avoiding manual shaking and resulting in inaccurate injection. The storage slot 22 facilitates the storage of the telescopic rod 20 when it is not in use, saving space and improving the flexibility of equipment use.

[0031] In this example, the integrated control terminal 12 has a display screen on one side, and a handset 23 and a speaker 24 are embedded on the top and bottom of the front side of the integrated control terminal 12, respectively. From left to right, control switch 1 25, control switch 26, and control switch 3 27 are arranged on the front side of the integrated control terminal 12 away from the handset 23. Several indicator lights 28 are arranged on one side of the integrated control terminal 12. The display screen, handset 23, and speaker 24, together with the control switches, realize human-machine interaction. The indicator lights 28 provide real-time feedback on the equipment status, so that operators can keep abreast of the equipment operation.

[0032] In this example, control switch 1 25 is electrically connected to the adsorption array module 6, control switch 2 26 is electrically connected to the 3D laser scanning module 7, and control switch 3 27 is electrically connected to the telescopic rod 20. By clearly defining the control objects of each control switch, precise control of different functional modules of the equipment can be achieved, making the operation convenient and efficient.

[0033] In this example, a connecting sleeve 13 is fitted on the outer side of the lower end of the suspension arm 3, and the inner wall of the connecting sleeve 13 is threadedly connected to the outer wall of the lower end of the suspension arm 3. The lower end of the connecting sleeve 13 is fixedly connected to the negative pressure gradient adsorption fixing module 4. The threaded connecting sleeve 13 facilitates the disassembly, assembly, and adjustment of the suspension arm 3 and the negative pressure gradient adsorption fixing module 4, and the relative positions of the two can be adjusted according to experimental requirements.

[0034] In this example, the thermostatic base 1 is a neodymium iron boron permanent magnet, and the outer wall of the thermostatic base 1 is provided with an alumina ceramic insulation layer. A heat preservation switch is provided on one side of the thermostatic base 1. The neodymium iron boron permanent magnet facilitates the movement and fixation of the equipment and is suitable for mobile experimental scenarios. The alumina ceramic insulation layer can maintain the body temperature stability of anesthetized animals, avoid hypothermia, and reduce experimental deviations caused by metabolic interference. The heat preservation switch can be used to control the switching on and off of the thermostatic base 1.

[0035] The adsorption array module 6 consists of 120 independently controlled micro-suction cups, each 2mm in diameter, arranged in a hexagonal honeycomb layout, supporting target point sinking avoidance with a stroke of 1.5mm. It incorporates a built-in 1kHz high-frequency pressure sensor, coupled with a PID control algorithm to achieve dynamic compensation for respiratory movements. The biomimetic adsorption array utilizes the negative pressure gradient distribution of the 120 micro-suction cups. This negative pressure gradient distribution refers to the regular spatial variation of negative pressure within the adsorption array module 6 (e.g., the negative pressure value gradually increases or decreases from one area to another). This distribution emphasizes the continuity and gradient change of negative pressure within the overall space, aiming to provide appropriate adsorption force according to the force requirements of different parts of the temporal bone, avoiding excessive local pressure that could lead to elastic deformation. This method reduces the skull deformation rate and significantly improves positioning accuracy. The target point sinking avoidance function creates an unobstructed operating window, supporting full skull surface intervention.

[0036] The 3D laser scanning module 7 uses a 650nm line laser with an accuracy of ±0.02mm to construct a 3D point cloud of the skull. The high-precision 3D laser scanning module, combined with a pre-stored brain atlas database, achieves "point-to-point localization + real-time localization", shortening the operation time, eliminating the dependence on traditional bone suture landmarks, and adapting to abnormal models.

[0037] The bracket 2 is made of aviation-grade aluminum 6061-T6 in one piece, with a lightweight frame design that reduces volume and is compatible with compact scenarios such as MRI. The aviation-grade aluminum material ensures strength while reducing weight, making it easy to carry and deploy the equipment.

[0038] The integrated control terminal 12 is equipped with a 7-inch touch screen that displays the 3D brain region coordinates XYZ axis positions and operation paths in real time. It supports voice control natural language commands, such as "Locate the hippocampus CA1". It has a built-in respiratory compensation control module that displays displacement compensation data in real time. The human-computer interaction system realizes full-process automation. "One-click positioning" combined with a dynamic avoidance mechanism reduces the experimental time to 3 minutes, improving experimental efficiency.

[0039] The adsorption array module 6 has a medical-grade silicone contact layer: Shore A30-40, with rounded edges: R0.5mm, and is resistant to high temperature and high pressure: 121℃ and ethylene oxide sterilization; biosafety components ensure experimental safety, the medical-grade silicone contact layer reduces blood flow interference, supports intervention at any point on the whole skull, and the sterilization-compatible design facilitates equipment cleaning and maintenance.

[0040] During use, the positioning phase: Mice were anesthetized, their skin was opened to expose the skull, and the connective tissue of the skull was removed. The thermostatic base 1 was turned on by the heat preservation switch, and the experimental animal was placed in a suitable position above the thermostatic base 1. The height of the crossbar 18 was adjusted so that the negative pressure gradient adsorption fixation module 4 was close to the mouse's head. The adsorption array module 6 was activated by the control switch 25. 120 micro suction cups were adsorbed onto the surface of the mouse and rat skulls using the negative pressure gradient distribution to complete the head fixation. At the same time, the respiratory compensation function was activated. The high-frequency pressure sensor collected data, and the PID algorithm dynamically adjusted the negative pressure to counteract respiratory displacement interference. This biomimetic adsorption array replaced the traditional ear rod fixation, which greatly reduced the skull deformation rate and improved the fixation stability.

[0041] Turn on control switch 26 to start the 3D laser scanning module 7. The 650nm line laser scans the skull, constructs 3D point cloud data of the skull, and transmits the data to the integrated control terminal 12.

[0042] The AI ​​algorithm within the integrated control terminal 12, combined with the pre-stored Allen mouse / rat brain atlas database, analyzes and processes the scanned data, automatically matches and establishes the corresponding coordinate system, determines the coordinates of the brain region to be located, breaks away from the dependence on traditional skull bony landmarks, and adapts to abnormal animal models.

[0043] Operational phase: Based on the positioning results, the integrated control terminal 12 controls the suction cup in the adsorption array module 6 corresponding to the target point to sink and avoid obstruction: the stroke is 1.5mm, forming an unobstructed operation window. At the same time, through the hinge of the suspension arm 3 and the bracket 2 and the adjustment of the telescopic clamping component, it tilts and avoids obstruction to create sufficient operating space.

[0044] A skull drill was used to drill holes in the skull area where space had been cleared, and then a micro-injector was installed on the support 2.

[0045] The 3D laser scanning module 7 continues to work, performing laser navigation. Based on the previously established coordinate system and positioning coordinates, it guides the insertion depth of the micro-injector. The respiratory compensation system continues to operate to maintain skull stability and ensure accurate injection of drugs into the target brain region.

[0046] Recovery phase: After the experiment is completed, the adsorption array module 6 is controlled by the integrated control terminal 12 to release the adsorption force, so that the head of the experimental animal is separated from the device.

[0047] The suspension arm 3, telescopic clamping assembly, and other components can be folded and stored to save space.

[0048] The integrated control terminal 12 automatically generates an experimental report, recording various data and operational information during the experiment, including respiratory compensation parameters and displacement data, which facilitates subsequent analysis and traceability.

[0049] This device avoids temporal bone deformation and ear canal damage through the negative pressure gradient distribution of a biomimetic adsorption array, thus improving positioning accuracy. It employs a hinged structure to eliminate operational obstructions, adapting to compact experimental environments. Intelligent obstacle avoidance is achieved through a 3D laser scanning module and an automatic positioning system. An integrated automatic respiratory motion compensation function eliminates respiratory interference. Neodymium iron boron permanent magnets and an alumina ceramic insulation layer meet the needs of mobile experiments and body temperature maintenance. Combined with intelligent design and quick-change interfaces, the operation process is simplified, comprehensively improving experimental efficiency and reliability.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An adsorption-type autonomous brain localization device suitable for rats and mice, comprising a thermostatic base (1), characterized in that: The constant temperature base (1) has a bracket (2) on one side of its top. A suspension arm (3) is hinged to the top of the bracket (2). A negative pressure gradient adsorption fixing module (4) is connected to the lower end of the suspension arm (3). An adsorption groove (5) is opened on the top of the negative pressure gradient adsorption fixing module (4). An adsorption array module (6) is provided in the adsorption groove (5). A three-dimensional laser scanning module (7) is provided on one side of the top of the bracket (2). A telescopic clamping assembly is provided on one side of the upper end of the bracket (2). An integrated control terminal (12) is provided on the top of the constant temperature base (1) on one side of the bracket (2).

2. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 1, characterized in that: The bottom of the adsorption array module (6) is provided with a magnetic coupling part (8), and the adsorption groove (5) is provided with a magnetic coupling interface (10) adapted to the magnetic coupling part (8). The lower part of the adsorption array module (6) is provided with a spring pin contact (9), and the adsorption groove (5) is provided with an electrical contact (11) adapted to the spring pin contact (9). The electrical contact (11) is electrically connected to the integrated control terminal (12).

3. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 2, characterized in that: The upper end of the suspension arm (3) is fixedly connected to a ball head (15), and a hinge seat (14) is provided above the ball head (15). The lower end of the hinge seat (14) is provided with a connecting groove (16) that is adapted to the ball head (15), and the ball head (15) is movably connected to the hinge seat (14).

4. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 3, characterized in that: The bracket (2) includes a vertical rod (17), which is fixedly installed on the top of the constant temperature base (1). The upper end of the vertical rod (17) is provided with a self-locking hinge (19) for adjusting the height of the suction cup. A horizontal rod (18) is hinged to one side of the mounting groove (19). The bottom of the horizontal rod (18) is fixedly connected to the hinge seat (14). The horizontal rod (18) and the vertical rod (17) are provided with wiring grooves. The self-locking hinge (19) is a titanium-nickel shape memory alloy hinge.

5. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 4, characterized in that: The telescopic clamping assembly includes a telescopic rod (20), and a storage groove (22) is provided at the end of the crossbar (18) away from the self-locking hinge (19). The telescopic rod (20) is fixedly installed in the storage groove (22), and a clamp (21) is connected to the telescopic end of the telescopic rod (20).

6. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 5, characterized in that: The integrated control terminal (12) has a display screen on one side. The earpiece (23) and speaker (24) are respectively embedded on the upper and lower sides of the front side of the integrated control terminal (12). From left to right, the front side of the integrated control terminal (12) away from the earpiece (23) has control switch one (25), control switch two (26) and control switch three (27). The integrated control terminal (12) has several indicator lights (28) on one side.

7. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 6, characterized in that: The first control switch (25) is electrically connected to the adsorption array module (6), the second control switch (26) is electrically connected to the three-dimensional laser scanning module (7), and the third control switch (27) is electrically connected to the telescopic rod (20).

8. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 2, characterized in that: The lower end of the suspension arm (3) is fitted with a connecting sleeve (13), and the inner wall of the connecting sleeve (13) is threadedly connected to the lower end of the suspension arm (3). The lower end of the connecting sleeve (13) is fixedly connected to the negative pressure gradient adsorption fixing module (4).

9. The adsorption-type autonomous brain localization device suitable for mice and rats according to claim 2, characterized in that: The constant temperature base (1) is a neodymium iron boron permanent magnet. The outer wall of the constant temperature base (1) is provided with an alumina ceramic insulation layer. A heat preservation switch is provided on one side of the constant temperature base (1).

10. A method for brain localization using the adsorption-type autonomous brain localization device according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1, Positioning Stage: The experimental animal with the exposed skull after anesthesia is placed on a constant temperature base (1). The negative pressure gradient adsorption fixation module (6) is moved above the skull by the multi-angle adjustment arm group (3). The integrated control terminal (12) controls each micro suction cup in the negative pressure gradient adsorption fixation module (6) to apply negative pressure according to the preset gradient function distribution, so that the negative pressure gradient adsorption fixation module (6) is attached and fixed to the skull surface with non-uniform adsorption force. The three-dimensional laser scanning module (7) is started to scan the skull surface and obtain the three-dimensional point cloud data of the skull. The brain map registration unit of the integrated control terminal (12) registers the three-dimensional point cloud data with the preset standard brain map to establish an individualized three-dimensional brain coordinate system. According to the target brain region selected by the operator, the coordinates of the skull surface site corresponding to the target brain region in the individualized three-dimensional brain coordinate system are calculated. Step S2, Operation Stage: The adsorption control unit of the integrated control terminal (12) determines one or more target micro-suction cups covering the cranial surface location according to the coordinates of the location, controls the target micro-suction cup to release negative pressure, and keeps the adsorption state of the remaining micro-suction cups unchanged. An operation window is formed in the cranial area exposed after the target micro-suction cup is released; cranial drilling and / or micro-injection operations are performed through the operation window. Step S3, Recovery Stage: After the operation is completed, the integrated control terminal (12) controls all the micro suction cups to release negative pressure, so that the negative pressure gradient adsorption fixation module (6) is separated from the skull surface and the multi-angle adjustment arm group (3) is removed.

11. The method according to claim 10, characterized in that, In step S1, the preset gradient function distribution is as follows: with the cranial suture line as the high negative pressure reference line, the negative pressure value decreases with distance to both sides, and the decreasing function is linear or exponential; and within a 5mm radius around the Bregma and Lambda points, the negative pressure value is 15% to 30% higher than other areas at the same distance.

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