CN100515187C - Cranial nerve electric stimulating/collecting device of BCI animal experiment system - Google Patents
Cranial nerve electric stimulating/collecting device of BCI animal experiment system Download PDFInfo
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- CN100515187C CN100515187C CNB2007100677638A CN200710067763A CN100515187C CN 100515187 C CN100515187 C CN 100515187C CN B2007100677638 A CNB2007100677638 A CN B2007100677638A CN 200710067763 A CN200710067763 A CN 200710067763A CN 100515187 C CN100515187 C CN 100515187C
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Abstract
The present invention discloses a BCI animal experiment system. Said BCI animal experiment system includes the following several portions: PC machine, cranial nerve electrostimulation/collector, electrical brain stimulation electrode and exercise training yard. Said invention also provides the connection mode of all the above-mentioned portions, and also provides the working principle of said system and its application and operation method.
Description
Technical field
The present invention relates to a kind of experimental provision, be meant a kind of BCI animal experiment system specifically towards animal and machine interface.
Background technology
Brain-machine interaction technology (BCI), research be how to link up brain internal information and external environment by non-natural method.It provides the transmitted in both directions passage for brain and environment, and external information can be input to nervous system from biomimetic sensor, and nerve signal also can be used to control the external electrical mechanical device.The nervous system original function can be repaired, improves even be expanded to this technology, and a kind of brand-new information interaction pattern is provided.
Scalp EEG (EEG) is used to the BCI systematic research at first because it does not have the safe and simple characteristic of wound.The BCI group of Austria Graz University of Science and Technology has realized using EEG in conjunction with functional electrostimulation first in 2003, help stroke patient to recover the arm function, has greatly promoted BCI and has developed to practicality.They also design the rudimentary model of having realized based on systems such as the dummy keyboard of EEG and dummy scene roamings.The BCI group at U.S. Wadsworth center has then realized can allowing the height paralytic finish literal and spelling, send and receive e-mail, answer regular jobs such as simple problem, and not need special medical personnel to assist with scalp EEG signals control external device.
In recent years, along with the progress of medical technology and material science, the research of implanted electrode in the brain-machine interaction technology has obtained breakthrough progress.1999, the Nicolelis of Duke university leader's research group implanted imperceptible electrode at the brain of stump-tailed macaque, made them can utilize E.E.G control mechanical arm.The professor Andersen leader's of California Institute of Technology research group then published an article on Science in 2004, introduced laboratory animal under their training, can come cursor in the moving screen with consciousness, even when how the laboratory animal plan moves, just understand and dope its idea.
After 2000, the application of implanted electrode in brain-machine interaction obtained breakthrough progress.The Nicolelis of Duke university leader's research group implants imperceptible electrode at the brain of stump-tailed macaque, makes them can utilize E.E.G control mechanical arm.This important breakthrough is expected to make the spinal injury patient to utilize E.E.G to use machinery or various tool some day, even allows the partial paralysis person can mobile once again limbs.The Richard professor Andersen leader's of California Institute of Technology research group then published an article on Science in 2004, introduced laboratory animal under their training, can come cursor in the moving screen with consciousness, or even its idea just can be understood and dope to laboratory animal when how plan moves.Meanwhile, control the research of the behavior of animal and also start to walk, the complete experimental system of a cover do not occur though control external electronic by remote control mode.
Summary of the invention
The invention provides the complete animal of containing of a cover screens, animal training, animal stimulates, the animal feedback is gathered, the brain machine interface system of each research aspect such as electroencephalogramsignal signal analyzing, by the behavior of implant electrode control animal individual, research is implanted into microchip in animal brain, utilize the bio-sensing function of animal self, obtain the sensation of animal, the behavior of control animal, make animal have purpose must finish the searching target in the unapproachable area of the mankind, activities such as location, be reduced in the human danger that is faced in hazardous environment and the battlefield greatly, in military surveillance, the border drug law enforcement, fields such as the disaster relief all have been widely used.
A kind of BCI animal experiment system, comprise PC, cerebral nerve electro photoluminescence/collector, the brain stimulation electrode, the depression bar case, the training place, the brain stimulation electrode is implanted and is waited to instruct in the animal brain, cerebral nerve electro photoluminescence/collector places waits to instruct on the animal body, cerebral nerve electro photoluminescence/collector is connected with PC, send stimulation parameter to cerebral nerve electro photoluminescence/collector according to training requirement through PC, cerebral nerve electro photoluminescence/collector produces corresponding stimulus waveform, act on animal brain by the brain stimulation electrode, make animal produce respective behavior, cerebral nerve electro photoluminescence/collector is gathered the animal brain electrical waveform simultaneously, gives PC with its passback, shows and storage through PC.
Described PC has remote controller.
Described cerebral nerve electro photoluminescence/collector comprises communication module, microprocessor, voltage/current drive circuit, voltage selection circuit, analog switch directional control circuit and channel selection circuit, installs electrical brain stimulation software and eeg signal acquisition software in the microprocessor additional; Communication module receives the stimulus signal of PC transmission and is transferred to microprocessor, microprocessor produces corresponding impulse waveform by its inner digital to analog converter, form constant current or constant pressure impulse through drive circuit, select circuit to select constant voltage or constant current through voltage, produce bidirectional pulse through the analog switch directional control circuit again, control channel selects the circuit gating will add the brain stimulation electrode of stimulation simultaneously, and boost pulse is acted on corresponding brain domain.
Described drive circuit is made of direct-coupled amplifier, is used for power amplification and constant voltage and becomes constant current.
Described channel selection circuit is made of analog switch, and can realize that multichannel stimulates simultaneously or adds separately stimulates in a certain electrode.
Described depression bar case is lighttight closed box, and inside is provided with depression bar, warning light.
For the configuration of each parameter of animal with stimulate order and the sampling of feedback data is afterwards mainly finished by PC.Electrical brain stimulation software can produce the stimulation square wave of Any shape, mainly forms by parameter configuration module, behavior control module, project management module, log management module, feedback data processing module, wherein,
Parameter is provided with module, is mainly used in stimulation parameter (pulse spacing, pulse width, number of pulses, voltage amplitude, current amplitude, stimulus intervals, the number of string) is set stimulation mode (voltage or electric current) and stimulus modality (whether continued stimulus).
The behavior control module has six kinds of operations, can control animal left, forward,, can also award (MFB stimulation) to the right to animal, can make mouse produce different behaviors by selecting different stimulations.
The project management module can be managed the stimulation parameter of every mouse, and it can reduce operator's input number of times, thereby saves the training time.Owing to have individual difference between the mouse, different parameters stimulates and can produce different effects to different mouse.The stimulation parameter that is suitable for most certain mouse just must constantly go to sound out.
Log management module can be noted the stimulation record to every mouse, comprises all configuration parameters and the stimulation of all directions.Can be used for data analysis in the future.Log management is automatically associated to corresponding project management.
The feedback data processing module comprises the brain wave data of feeding back after the stimulation of storing mouse, and the brain wave patterns that obtains is shown the reference for the control personnel in real time.The eeg data that receives will be preserved with specific file format.
Described electrical brain stimulation software control process may further comprise the steps:
Initialization is selected default scheme and messaging parameter is set;
Select, deletion increases training program, sets stimulation parameter, stimulus modality and direction of stimulation;
Parameter sends instruction and controls animal action after setting completed.
The process of described eeg signal acquisition software collection deal with data may further comprise the steps:
Program is read serial ports, the eeg data of receive gathering, and with this data buffer memory to receiving buffering area;
The data of buffering area are read in file, preserve with self-defined file format (suffix is bcid);
With the The data average sampling algorithm of buffer area, obtain the video data of waveform, video data is saved in the display buffer district, empty the reception buffer area, enter next circulation;
The access graphics treatment facility, display waveform on the interface.
Animal experiment system of the present invention utilizes electronic installation control animal brain, and to reach its body kinematics of control, for the research of further being engaged in this field provides research means, thereby Premium Features, the creation brain of team's research brain are significant.
Description of drawings
Fig. 1 is the theory diagram of apparatus of the present invention;
Fig. 2 is the composition frame chart of cerebral nerve electro photoluminescence/collector;
Fig. 3 is the electric pulse schematic diagram that cerebral nerve electro photoluminescence/collector produces;
Fig. 4 is the theory diagram of depression bar case;
Fig. 5 is the electrical brain stimulation software flow pattern;
Fig. 6 is an eeg signal acquisition process software flow chart.
Embodiment
As shown in Figure 1, a kind of BCI animal experiment system, comprise PC, cerebral nerve electro photoluminescence/collector, brain stimulation electrode, training place, the brain stimulation electrode is implanted and is waited to instruct in the animal brain, cerebral nerve electro photoluminescence/collector places waits to instruct on the animal body, cerebral nerve electro photoluminescence/collector is connected with PC, and PC has remote controller.
As shown in Figure 2, cerebral nerve electro photoluminescence/collector comprises communication module, microprocessor, voltage/current drive circuit, voltage selection circuit, analog switch directional control circuit and channel selection circuit, installs stimulus waveform software in the microprocessor additional.
Drive circuit is made of direct-coupled amplifier, is used for power amplification and constant voltage and becomes constant current.
Channel selection circuit is made of analog switch, and can realize that multichannel stimulates simultaneously or adds separately stimulates in a certain electrode.
The animal training place comprises depression bar case, eight arm labyrinths, field word route, step, book end etc.
As shown in Figure 4, the depression bar case is lighttight closed box, in depression bar is arranged, warning light.Depression bar is a switch, and two ends connect 12 pin (TTL logic signal input end) of Max232 and 15 pin (earth terminal, specifically can with reference to the Datasheet of Maxim Integrated Products company).12 pin are by moving on the inside+5V, and when depression bar is depressed, 12 pin link to each other with 16 pin (GND), and voltage just becomes 0V by+5V.This variable signal is transferred to PC by interface circuit Max232.The PC software detection is lighted warning light and is sent the award order to stimulator according to user's setting, to stimulating with award with animal behind this signal.Eight arm labyrinths, field word route, step, book end etc. are used to form complex course trains, and animal moves according to being controlled on the route.
According to training requirement, the operator controls PC by remote controller, send stimulation parameter to cerebral nerve electro photoluminescence/collector, the communication module of cerebral nerve electro photoluminescence/collector receives the stimulus signal of PC transmission and is transferred to microprocessor, microprocessor produces corresponding impulse waveform by its inner digital to analog converter, form constant current or constant pressure impulse through drive circuit, select circuit to select constant voltage or constant current through voltage, produce bidirectional pulse through the analog switch directional control circuit again, control channel selects the circuit gating will add the brain stimulation electrode of stimulation simultaneously, boost pulse is acted on corresponding brain domain, make animal produce respective behavior, cerebral nerve electro photoluminescence/collector is gathered the animal brain electrical waveform simultaneously, gives PC with its passback, shows and storage through PC.
For the configuration of each parameter of animal with stimulate order and the sampling of feedback data is afterwards mainly finished by PC.Electrical brain stimulation software can produce the stimulation square wave of Any shape, mainly be made up of parameter configuration module, behavior control module, project management module, log management module, feedback data processing module, wherein, parameter is provided with module, be mainly used in the stimulation parameter (pulse spacing is set, pulse width, number of pulses, voltage amplitude, current amplitude, stimulus intervals, the number of string), stimulation mode (voltage or electric current) and stimulus modality (whether continued stimulus).
The behavior control module has six kinds of operations, can control animal left, forward,, can also award (MFB stimulation) to the right to animal, can make mouse produce different behaviors by selecting different stimulations.
The project management module can be managed the stimulation parameter of every mouse, and it can reduce operator's input number of times, thereby saves the training time.Owing to have individual difference between the mouse, different parameters stimulates and can produce different effects to different mouse.The stimulation parameter that is suitable for most certain mouse just must constantly go to sound out.
Log management module can be noted the stimulation record to every mouse, comprises all configuration parameters and the stimulation of all directions.Can be used for data analysis in the future.Log management is automatically associated to corresponding project management.
The feedback data processing module comprises the brain wave data of feeding back after the stimulation of storing mouse, and the brain wave patterns that obtains is shown the reference for the control personnel in real time.The eeg data that receives will be preserved with specific file format.
As shown in Figure 5, electrical brain stimulation waveform forming process may further comprise the steps: initialization, and select default scheme and messaging parameter is set, as string slogan, baud rate, data bit etc.; Select, delete, increase training program, set the pulse spacing, pulse width, number of pulses, voltage amplitude, current amplitude, stimulus intervals, stimulation parameters such as the number of string are selected stimulus modality (these data also can directly import by the selection scheme file) and direction of stimulation; When selecting training program, system can select the daily record of this scheme correspondence automatically, if corresponding operation is arranged, this operation will be recorded in this daily record so; Can also revise the parameter of this scheme after choosing scheme, and can preserve amended parameter hereof, in order to using next time; When parameter after setting completed, send instruction and control animal action.
As shown in Figure 6, the data acquisition process process may further comprise the steps: program is read serial ports, the eeg data of receive gathering, and with this data buffer memory to receiving buffering area; The data of buffering area are read in file, preserve with particular file format; With the The data average sampling algorithm of buffer area, obtain the video data of waveform simultaneously, video data is saved in the display buffer district, empty the reception buffer area, enter next circulation; The access graphics treatment facility, display waveform on the interface.
In the hands-on process, must screen animal, during screening, open monitoring software, knapsack stimulator, be communicated with the blue tooth wireless communication module, put animal into the depression bar case, and give and depression bar award prompting.
Observe animal and suitably give and prompting, more than the free movable accidental probability of running into depression bar of animal, can judge award this moment effectively up to the depression bar probability.
Judge the award effect: press every day as 1 hour, record depression bar number of times, speed same time.Observe repeatability, it is more satisfactory to repeat more than 3 days effect.And in training, check the MFB effect of stimulation, guarantee effectively.
The award parameter is from 10V/8/(10V is the peak-to-peak value of voltage amplitude to 10ms/1ms; 8 is the number of pulse; 10ms is the pulse spacing; 1ms is a pulse width), stimulate number or duration as not pressing just to transfer significantly or increase, change stimulation parameter and observe depression bar number of times respective change, select optimal parameter.
When beginning to train, software is installed, is connected the blue tooth wireless communication module, connect the knapsack stimulator, animal is placed eight arms or field word route.
Select stimulus intensity, significant reaction is arranged, and only retreat by force and be the best with animal.
After parameter is selected, generally need not change, corresponding number of animals, storing its stimulation parameter is file, training is later on directly read and is got final product.
Earlier from the simplest advance and about turn to training, by 0 increase difficulty, up to learning stair climbing, compound actions such as circle in figure 8.Allow Zoological Society forward earlier, just give award forward.When animal is gone to 8 arm mouths, give the direction prompting,, strengthen animal behavior if turn to the correct award of giving.Turn to about training accuracy to 90%, can carry out the compound action training.
Claims (7)
1. the cerebral nerve electro photoluminescence/collector of a BCI animal experiment system, comprise: communication module, microprocessor, voltage/current drive circuit, voltage are selected circuit, analog switch directional control circuit and channel selection circuit, install electrical brain stimulation software and eeg signal acquisition software in the microprocessor additional; Communication module receives the stimulus signal of PC transmission and is transferred to microprocessor, microprocessor produces corresponding impulse waveform by its inner digital to analog converter, form constant current or constant pressure impulse through drive circuit, select circuit to select constant voltage or constant current through voltage, produce bidirectional pulse through the analog switch directional control circuit again, control channel selects the circuit gating will add the brain stimulation electrode of stimulation simultaneously, and boost pulse is acted on corresponding brain domain.
2. cerebral nerve electro photoluminescence/collector as claimed in claim 1 is characterized in that: described drive circuit is made of direct-coupled amplifier, is used for power amplification and constant voltage and becomes constant current.
3. cerebral nerve electro photoluminescence/collector as claimed in claim 1 is characterized in that: described channel selection circuit is made of analog switch, and can realize that multichannel stimulates simultaneously or adds separately stimulates in a certain electrode.
4. cerebral nerve electro photoluminescence/collector as claimed in claim 1 is characterized in that: described electrical brain stimulation software is used to produce the stimulation square wave of different shape, comprising:
Parameter is provided with module, is used to be provided with stimulation parameter, stimulation mode and stimulus modality;
The behavior control module is used to control the behavior type and the direction of waiting to instruct animal;
The project management module is used to manage every stimulation parameter of waiting to instruct animal;
Log management module is used to write down the stimulation record of waiting to instruct animal to every, comprises all configuration parameters and the stimulation of all directions; Log management module is automatically associated to corresponding project management module;
The feedback data processing module comprises the brain wave data of feeding back behind the storage animal irriate, and the brain wave patterns that obtains is shown the reference for the control personnel in real time.
5. cerebral nerve electro photoluminescence/collector as claimed in claim 1 is characterized in that: described electrical brain stimulation software control process may further comprise the steps:
Initialization is selected default scheme and messaging parameter is set;
Select, delete or the increase training program, set stimulation parameter, stimulus modality and direction of stimulation;
Parameter sends instruction control animal action after setting completed.
6. cerebral nerve electro photoluminescence/collector as claimed in claim 1 is characterized in that: the process of described eeg signal acquisition software collection deal with data may further comprise the steps:
The eeg data of receive gathering, with this data buffer memory to receiving buffering area;
The data of buffering area are read in file, preserve with self-defined file format;
With the The data average sampling algorithm of buffer area, obtain the video data of waveform, video data is saved in the display buffer district, empty the reception buffer area, enter next circulation;
The access graphics treatment facility, display waveform on the interface.
7. cerebral nerve electro photoluminescence/collector as claimed in claim 6 is characterized in that: described self-defined file format is that suffix is the file format of bcid.
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| CN101766485B (en) * | 2010-03-16 | 2011-06-08 | 上海交通大学 | Wireless mobile real-time acquisition device for electroencephalograph of small animals |
| CN101861836B (en) * | 2010-04-30 | 2012-05-23 | 重庆大学 | Method for controlling movement of woundless rat robot |
| CN102580243B (en) * | 2011-01-14 | 2015-01-21 | 苏州景昱医疗器械有限公司 | Implanted dual-mode stimulating chip, system and mode converting method |
| CN102166388B (en) * | 2011-03-28 | 2015-08-05 | 北京品驰医疗设备有限公司 | There is the embedded nerve stimulator of constant voltage/constant current double pulse modes |
| CN103593048B (en) * | 2013-10-28 | 2017-01-11 | 浙江大学 | Voice navigation system and method of animal robot system |
| CN110339448B (en) * | 2018-04-02 | 2021-11-05 | 中国科学院深圳先进技术研究院 | Method, device, computer equipment and storage medium for regulating and controlling animal state |
| CN110811628A (en) * | 2018-08-14 | 2020-02-21 | 智识互通(苏州)生物科技有限公司 | Gait image analysis system with synchronous transcranial direct current stimulation function |
| CN109262656B (en) * | 2018-10-31 | 2019-05-28 | 山东科技大学 | A kind of animal robot stimulation parameter measurement system and method based on machine vision |
| CN109977768B (en) * | 2019-02-18 | 2022-03-04 | 中国科学院深圳先进技术研究院 | Closed-loop feedback type animal behavior analysis system, method and device |
| CN109675171A (en) * | 2019-03-04 | 2019-04-26 | 中国科学院深圳先进技术研究院 | Animal stimulating method, device, equipment and storage medium |
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