CN104679028A - Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation - Google Patents
Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation Download PDFInfo
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- CN104679028A CN104679028A CN201310632572.7A CN201310632572A CN104679028A CN 104679028 A CN104679028 A CN 104679028A CN 201310632572 A CN201310632572 A CN 201310632572A CN 104679028 A CN104679028 A CN 104679028A
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Abstract
The invention relates to a method for controlling an animal robot to turn on the basis of ventral posterior medial nucleus electrical stimulation. The method comprises the steps that two stimulating electrodes are respectively imbedded into VPM (Ventral Posterior Medial Nucleus) regions on both sides of the animal robot, the electrodes are fixed on skulls with dental cement, and an electrical stimulation backpack is installed on the animal robot; waveform parameters of electrical stimulation are set by an upper computer and are transmitted to the electrical stimulation backpack at the back of the animal robot in a wireless mode, the stimulating electrodes are controlled by the electrical stimulation backpack, so as to perform electrical stimulation on the animal robot, and corresponding thalamus-cortex projection loops are activated, so that the animal robot generates a virtual feeling, so as to complete turning. According to the method, a traditional method that the animal robot learns to turn by reward training is eliminated, turning is realized directly through the electrical stimulation, the controllability over a turning angle is realized, a large amount of training time is saved, the working efficiency is high, and the method has good application prospects in the field of animal robot navigation.
Description
Technical field
The present invention relates to animal robot, be specifically related to a kind of method turned to based on intercalated nucleus electro photoluminescence control animal robot after thalamus abdomen.
Background technology
" animal robot " refers to the motion function, the power supply system that utilize animal, proceeds to or innervation is started with from the impression of animal, realizes the control of motion to animal and some behavior.In recent years, along with the development of brain-computer interface (Brain-Computer-Interface, BCI) technology, achieve the brain by outside stimulus direct intervention animal.Implant microelectrode in the specific region of the brain of animal and electro photoluminescence is provided, make animal produce virtual sensation, comprise award, fear and sense of touch etc.Can control because this electro photoluminescence is people, so people can control animal produce these virtual sensations, thus specific action can be completed by animal training, such as: depression bar and navigation.
Rat navigation be one based on animal robot (rat), utilize the task in outside electro photoluminescence controlled motion path.Animal robot (rat) has more obvious advantage than robot and bio-robot in energy resource supply, kinematic dexterity, disguise, maneuverability and adaptability.Therefore rat navigation is with a wide range of applications, such as, search in survivor, anti-terrorism, security and military affairs in disaster assistance.
The left and right turn of animal robot (rat) controls to realize in conjunction with reward training by the beard district (Barrel Cortex, BF) of electro photoluminescence rat left and right sides.As prompting, when rat receives the sensory cortex electro photoluminescence of certain side, if rat is just to the rotary head needed, then the award using electro photoluminescence award district at once or give food/water trains this prompting of strengthening to stimulate the relation with rotary head.After certain training, the course changing control realizing rat that can be comparatively stable.(list of references: Zhang Shaomin, Wang Peng, Jiang Jun etc. rat remote navigation and Behavioral training systematic research [J] thereof. Chinese biomedical engineering journal, 2007,26 (6): 830-836.0258-8021.2007.06.006.) the rat rotating direction control method of stimulus sensation cortex needs stimulus sensation cortex to be combined with award, usually need the training of long period to stablize, and still need regular strengthening in the use procedure of whole rat robot.Due in the sensory cortex of rat, the region that BF is corresponding is relatively large, and neuron density in sensory cortex is relatively sparse, directly be difficult to by the electro photoluminescence of single-point the neuron activating BF region on a large scale, thus simple electro photoluminescence BF region is difficult to make rat to produce and clear and definite turns to Behavioral change.And there is larger spinoff by the activation scope that the amplitude improving voltage or electric current improves sensory cortex, rat directly can be made time serious to occur the tic of whole body or body, cause lifelong electro photoluminescence to damage to the brain of rat.Still there is certain weak point in the method that therefore stimulus sensation cortex control rat turns to.
In the practical application that following rat is navigated, this task of navigating is a platform, and rat is bound to need according to some new technical ability of different Applied Learnings, and these technical ability probably need to be realized by the mode of training.If navigation task just occupies a large amount of training times, the range of application of animal robot (rat) must be reduced.On the other hand, the learning ability of rat is limited, if allow rat learn too much thing, what must increase animal robot (rat) realizes difficulty.So, develop the new method that a kind of control animal robot (rat) that need not train newly turns to very meaningful.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of method turned to based on thalamus electro photoluminescence control animal robot.
Based on the method that intercalated nucleus electro photoluminescence control animal robot after thalamus abdomen turns to, it is characterized in that, comprise the steps:
(1) two stimulating electrodes are embedded into respectively intercalated nucleus region after two flanks of animal robot, electro photoluminescence knapsack is installed on animal robot;
(2) waveform parameter of electro photoluminescence is set by host computer, described waveform parameter is wirelessly transmitted to the electro photoluminescence knapsack at animal robot back, control stimulating electrode by electro photoluminescence knapsack and electro photoluminescence is carried out to animal robot, complete and turn to.
Control stimulating electrode by electro photoluminescence knapsack in the present invention to carry out electro photoluminescence to animal robot and be interpreted as stimulating electrode and receive electrical stimulation signal assigned address in animal robot brain that electro photoluminescence knapsack produces and give electro photoluminescence.
Mammiferous thalamus is responsible for the integration of a large amount of sensory informations, and mammiferous thalamus is relative to much smaller sensory cortex, and the neuron density of its inside is also greater than sensory cortex.Intercalated nucleus (posterior group after thalamus is comprised with the relevant thalamus subnucleus group of mammalian body table sensation in it, POM), intercalated nucleus (Ventral Posterior Medial Nucleus after thalamus abdomen, and nucleus ventralis posterolateralis thalami (Ventral Posterior Lateral Nucleus, VPL) VPM).Wherein, POM passes to nerve signal by corpus callosum the region of the brain sensory cortex of both sides; The nerve of uploading in VPL region also projects brain allocheria cortex, but is different from VPM, the proprioception, dermal sensation etc. of the projected area primary responsibility contralateral of VPL; VPM uploads the brain sensory cortex of Nervons projection to offside, mainly comprises the sensation forming region of offside beard and Head And Face.Therefore, corresponding thalamocortical projection loop can be activated by intercalated nucleus after the thalamus abdomen of electro photoluminescence animal robot thalamus, make animal robot produce virtual sensation, thus complete and turn to.
The present invention realizes the course changing control completing animal robot not relying on reward training, and directly realize turning to by electro photoluminescence, achieve the controlled of steering angle, eliminate a large amount of training times, work efficiency is high, has a good application prospect simultaneously.
Present invention achieves the controlled of rat steering angle, do not refer to and can control animal robot (rat) accurately or a fixed angle of turning right left by electro photoluminescence, such as " turn left 27 degree ", the instruction such as " turning right 32 degree ", but allowing the error that there is certain limit, in the present invention, the scope of the steering angle of animal robot is 0 ~ 300 °.
Described stimulating electrode is fixed on the skull of animal robot by dental cement.
The impedance that the wire electrode length difference at the diameter of wire electrode, material and tip, insulation course divest all embedding with the electrode rear two ends of length is relevant, if impedance is very large, the neuron activating certain area just needs very large voltage, and this is all disadvantageous for rat and peripherals; On the other hand, if simply by increasing diameter, divesting the method for insulation course reduction impedance in a large number, then large-scale brain district can be made to be subject to electro photoluminescence, and rat can not complete and turn to.Therefore, in order to make stimulated zone reduce electrode impedance under the prerequisite of target area as far as possible.
As preferably, described stimulating electrode is the multiple twin stimulating electrode that 65um nickel-cadmium silk is made.
As preferably, the tip of described multiple twin stimulating electrode is provided with two wire electrodes, and the length difference 0.4mm of described two wire electrode front ends, front end all divests the long insulation course of 0.2mm.
After described step (1) abdomen, the particular location in intercalated nucleus region is: bregma position AP=-2.8 ~-3.2mm, and distance ML=± (2.3 ~ 2.8) mm, degree of depth DV=6 ~ 6.5mm is opened on side.
Can the embedding position of electrode be the key that realize turning to, coordinate position reference standard brain map, and this standard brain map is shown in document Paxinos G; Watson C The Rat Brain in Stereotaxic Coordinates5th Edition, 2004.
Electro photoluminescence in described step (2) is that voltage stimulates.
Stimulate control to turn to by voltage, be convenient to realize.
Waveform parameter in described step (2) comprises stimulates duration, voltage magnitude, dutycycle and frequency.
When voltage stimulates, the stimulation duration of this voltage, voltage magnitude, dutycycle and frequency determine the angle turned to of animal robot.
As preferably, described dutycycle is 0.5, and described frequency is 50HZ.
Described voltage magnitude is 0.3 ~ 5.5V, and described stimulation duration is 0 ~ 0.5s.
When dutycycle and frequency certain, voltage magnitude is larger, stimulate duration longer, steering angle is larger, and the susceptibility of animal robot to voltage magnitude is greater than stimulation duration, generally, fixed duty cycle and frequency, carry out coarse adjustment steering angle by voltage magnitude, then duration is interior among a small circle further regulates steering angle by stimulating.
Further preferably, described voltage magnitude is 2.5 ~ 3.5V.
Voltage magnitude can not select too small, selects too small, can cause can not causing when electro photoluminescence duration shortens turning to; On the contrary, voltage magnitude can not select too much, and excessive stimulation voltage not only can cause damage to the brain tissue of rat, also can activate Geng great Nao district rat is experienced stimulation that other influences rat turns to makes to turn to failure, particularly the pain sensation is strengthened.After stimulating electrode is embedded into rat brain, two direct impedances of electrode can be different, so the value of optimum voltage also can be different; On the other hand, because stereotaxic instrument may exist the individual difference of error and rat existence itself, perform the operation, the embedding of stimulating electrode is not necessarily positioned at target location completely at every turn, and slightly deviation can hardly be avoided.Therefore, the optimum voltage of different animals robot is different, and the optimal stimulus voltage turned to of the not homonymy of same rat is also different, and in actual application, voltage magnitude can be changed with actual conditions as required at any time.
The method turned to based on thalamus electro photoluminescence control animal robot of the present invention, by intercalated nucleus after the thalamus abdomen of electro photoluminescence animal robot thalamus, corresponding thalamocortical projection loop can be activated, make animal robot produce virtual sensation, thus complete and turn to.The method has been broken away from tradition and reward training will be relied on to make rat learn to turn to, realize the course changing control completing animal robot not relying on reward training, directly realize turning to by electro photoluminescence, achieve the controlled of steering angle simultaneously, eliminate a large amount of training times, work efficiency is high, in animal robot navigation, as having a good application prospect in fields such as search and rescue, security and military affairs.
Accompanying drawing explanation
Fig. 1 is the process flow diagram controlling the method that animal robot turns to based on thalamus VPM electro photoluminescence of the present invention;
Fig. 2 is the process flow diagram determining direction of motion;
Fig. 3 is the corresponding relation of voltage magnitude and steering angle;
Fig. 4 is the corresponding relation stimulating duration and steering angle.
Embodiment
Below in conjunction with accompanying drawing, a kind of method turned to based on thalamus electro photoluminescence control animal robot (rat) of the present invention is described in detail.
This method is completed by following stimulating system, comprising:
Host computer, host computer is used for arranging stimulus waveform parameter;
Electro photoluminescence knapsack, carries out radio communication with host computer, accepts the stimulus waveform parameter that host computer is arranged, generates corresponding electrical stimulation signal;
Stimulating electrode (two), the electrical stimulation signal assigned address in animal robot brain produced for transmitting electro photoluminescence knapsack gives electro photoluminescence.
Realize data by bluetooth between host computer and electro photoluminescence knapsack in the present embodiment to transmit.
In the present embodiment, stimulating electrode is the multiple twin stimulating electrode that 65um nickel-cadmium silk is made, and the tip of this multiple twin stimulating electrode is provided with two wire electrodes, and the length difference 0.4mm of two wire electrode front ends, front end all divests the long insulation course of 0.2mm.
As shown in Figure 1, the method turned to based on thalamus VPM electro photoluminescence control animal robot of the present invention, comprises the steps:
(1) two stimulating electrodes are embedded into respectively the VPM region, both sides of animal robot, electro photoluminescence knapsack is installed on animal robot;
(2) waveform parameter (comprise and stimulate duration, voltage magnitude, dutycycle and frequency) of electro photoluminescence is set by host computer, described waveform parameter is wirelessly transmitted to the electro photoluminescence knapsack at animal robot back, electro photoluminescence knapsack carries out electro photoluminescence according to described waveform parameter to animal robot, completes and turns to.
The animal robot of the present embodiment is the male SD(Sprague Dawley of 250g) rat, anaesthetize it with yellow Jackets (pentobarbital sodium) solution (5ml/kg, lumbar injection) of 1% before imbedded electrode, animal is fixed on; (Rui Wode company on stereotaxic instrument, China), from midline incision scalp, skull gets out the hole of 1.0mm diameter, be used for embedding stimulating electrode and place fixed screw, stimulating electrode is embedded in the VPM region of bilateral, bregma position AP=-3.0mm, and distance ML=± 2.9mm is opened on side, degree of depth DV=6.2mm, this coordinate position reference standard brain map (during practical operation, allow certain error, error should be less than ± 0.5mm).Finally with dental cement, electrode and screw are fixed on skull.Postoperative recovery week age, if rat normally can ingest, drink water, then may be used for implementing the inventive method.
Complete before turning to, cut off the both sides beard of rat, the situation that the sensory signal that can reduce beard generation like this superposes with the sensory signal that electro photoluminescence produces, thus reduce the impact on turning efficiency.
Whether electro photoluminescence knapsack, before being placed into rat back, connects emitting led, arranges suitable parameter by computer software, observe this and emitting ledly normally to work, check that whether software and hardware system is working properly with this.
In the present embodiment, the electro photoluminescence in step (2) is that voltage stimulates.
The present embodiment, after embedding stimulating electrode is good, needs to obtain optimum voltage amplitude, specific as follows:
Fixed duty cycle is 0.5, and frequency is 50HZ, and stimulation duration is 0.1s, increases voltage magnitude gradually, (from 0.5V, increase 0.5V at every turn, complete and turn to rear recommendation to increase 0.25V at every turn), and magnitude of voltage corresponding when turning to 90 ° using rat is as optimum voltage.Under normal circumstances, after determining optimum voltage, just with this stimulation voltage parameter constant, other waveform parameters are also constant, only change the control that stimulation time (or perhaps the pulse number stimulated) realizes rat steering angle.
The optimum voltage amplitude determined in this enforcement is 2.8V.
Turn to behavior by the direct visual perception rat of people, directly cannot judge the angle turned to, if people measuring steering angle words by observing video recording, also there is the inconsistent and measurement of criterion before and after the direction of motion to rat and there is the problems such as error.Also install camera at the top, spacious field of rat motor in the present embodiment, by the vision signal of camera collection, identify the direction of motion of rat before and after electro photoluminescence, before and after electro photoluminescence, the difference of the direction of motion of rat is steering angle.
As shown in Figure 2, the direction of motion of rat is obtained by following steps:
(S3-1), before rat motor, the background image of spacious field is obtained;
(S3-2), after rat motor, spacious field picture is obtained as original image;
(S3-3) body centre position and the head center position of rat is obtained according to original image;
A () uses original image subtracting background image, the contour images obtaining rat, according to contour images, calculates the body centre of rat to the contour images of rat after carrying out binaryzation and Image erosion process after obtaining noise reduction;
B original image is changed into RGB image by (), and be the head center calculating rat according to the position that RGB image asks for dental cement;
(S3-4) according to the line of body centre position and head center position, the direction of motion of rat is calculated.
Need to pre-set mining site region (i.e. mining site) before settling camera.
In concrete operations, image (original image) such as during rat motor deducts the background image not having rat, the image obtained is then the pixel value non-zero of the image-region having rat, the image-region of rat is not had to be zero (noise spot), after binaryzation and Image erosion process (eliminating noise spot), rat region is white, other regions are black, the coordinate figure of white pixel all on this image is averaged, region is white, other regions are black, to the coordinate centering of white pixel all on this image, then think that the coordinate of this point is the body centre position of rat, show at monitor window in real time.
To the identification of rat head, the RGB image obtained in being moved by analyzing rat, find the pixel of all redness (only have in the spacious field in video camera coverage the head of rat for the dental cement stone redness of constant stimulus electrode), namely red pixel identification is carried out, then the center of these red pixel coordinates is obtained, then think that the coordinate of this point is the head center position of rat, show at monitor window in real time.
Also can carry out color mark at mouse head, namely obtain the head center position of rat according to the position of this color of RGB Image Acquisition.
The line of rat central point to rat head central point is shown in real time as the direction of motion of rat at monitor window, and the angle of the acute angle folded by this line and image limit is shown in window fixed position, stimulate front and back (stimulating the light on and off of the led on knapsack to obtain beginning and the end of stimulation time by rat back) rat steering angle for calculating.
Fig. 3 is the corresponding relation of voltage magnitude and steering angle, and wherein coordinate axis x-axis is voltage magnitude, and y-axis represents that (homonymy turns to as just, and it is that when carrying out electro photoluminescence to rats with left, rat is turned left to being homonymy and turns to that homonymy turns to for the steering angle of rat; In like manner on the right side of electro photoluminescence, turn right to for homonymy and turn to), each serial SV and two digits below constitute the numbering of rat, and numbering L or R below represents that stimulating electrode is on the left side of rat or right side, each data point is the mean value of repetitive measurement, and error line is standard deviation.R in figure
2for carrying out matching to various discrete point, the fitting coefficient of the matched curve obtained is less than 1, can find out that rotary head angle and voltage magnitude are the relation of approximately linear.As can be seen from the figure all data points are all above x-axis or in x-axis, and this represents that these rats all show as homonymy and turn to, and on the whole, in certain range of voltage values, the steering angle of rat can increase along with the increase of stimulation voltage.
If Fig. 4 is the corresponding relation stimulating duration and steering angle, coordinate axis x-axis is for stimulating duration, coordinate axis y-axis is the numbering that angle (homonymy is just) each serial SV of rat rotary head and two digits below constitute rat, numbering below alphabetical L or R represents that stimulating electrode is on the left side of rat or right side, and the last of numbering is optimum voltage.Each data point is the mean value of repetitive measurement, and error line is standard deviation.R in figure
2for carrying out matching to various discrete point, the fitting coefficient of the matched curve obtained is less than 1, can find out and stimulate duration and voltage magnitude to be the relation of approximately linear.
When using the present invention to carry out the course changing control of animal robot (rat), owing to there is specificity between rat, all may there is certain error with operation is embedding in electrode fabrication, the rotary head parameter of every rat also can be different; In addition, because brain can produce some physical and chemical reactions slowly with electrode, same stimulation parameter for same rat, along with the change of time, need suitably to change some stimulation parameters (such as increasing some voltage amplitudes), just can reach good rotary head effect.
Claims (9)
1., based on the method that intercalated nucleus electro photoluminescence control animal robot after thalamus abdomen turns to, it is characterized in that, comprise the steps:
(1) two stimulating electrodes are embedded into respectively intercalated nucleus region after two flanks of animal robot, electro photoluminescence knapsack is installed on animal robot;
(2) arranged the waveform parameter of electro photoluminescence by host computer, described waveform parameter is wirelessly transmitted to the electro photoluminescence knapsack at animal robot back, electro photoluminescence knapsack carries out electro photoluminescence according to described waveform parameter to animal robot, completes and turns to.
2., as claimed in claim 1 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, described stimulating electrode is fixed on the skull of animal robot by dental cement.
3., as claimed in claim 2 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, described stimulating electrode is the multiple twin stimulating electrode that 65um nickel-cadmium silk is made.
4. as claimed in claim 3 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, the tip of described multiple twin stimulating electrode is provided with two wire electrodes, and the length difference 0.4mm of described two wire electrode front ends, front end all divests the long insulation course of 0.2mm.
5. as claimed in claim 4 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, after described step (1) abdomen, the particular location in intercalated nucleus region is: bregma position AP=-2.8 ~-3.2mm, and distance ML=± 2.3 ~ 2.8mm is opened on side, degree of depth DV=6 ~ 6.5mm.
6. as claimed in claim 5 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, the electro photoluminescence in described step (2) is that voltage stimulates.
7., as claimed in claim 6 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, the waveform parameter in described step (2) comprises stimulates duration, voltage magnitude, dutycycle and frequency.
8., as claimed in claim 7 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, described dutycycle is 0.5, and described frequency is 50HZ.
9., as claimed in claim 8 based on the method that thalamus electro photoluminescence control animal robot turns to, it is characterized in that, described voltage magnitude is 0.3 ~ 5.5V, and described stimulation duration is 0 ~ 0.5s.
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Application publication date: 20150603 |
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