CN110711044B - Five-axis zebra fish brain stereotaxic instrument based on precise sliding table - Google Patents
Five-axis zebra fish brain stereotaxic instrument based on precise sliding table Download PDFInfo
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- CN110711044B CN110711044B CN201911069086.2A CN201911069086A CN110711044B CN 110711044 B CN110711044 B CN 110711044B CN 201911069086 A CN201911069086 A CN 201911069086A CN 110711044 B CN110711044 B CN 110711044B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D1/00—Surgical instruments for veterinary use
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D3/00—Appliances for supporting or fettering animals for operative purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B2090/103—Cranial plugs for access to brain
Abstract
The invention discloses a five-axis brain stereotaxic instrument for zebra fish, which comprises a movement module, a zebra fish fixing module, a drilling machine module and a monitoring module. The motion module comprises a base, an XY axis linear sliding table, a Z axis linear sliding table, an A axis rotating table and a B axis rotating table, wherein the XY axis linear sliding table and the Z axis linear sliding table are used for adjusting the position of the drilling machine module, the A axis rotating table and the B axis rotating table are used for adjusting the position of the zebra fish fixing module, and the base is used for providing a foundation for fixing each module. The drilling machine module comprises a motor, a motor base, a drill chuck and a drill bit, and is used for craniotomy of zebra fish; the monitoring module comprises a macro camera and a macro camera movement supporting structure and is used for accurately observing the drilling condition of a drill bit in the process of craniotomy of the zebra fish; the zebra fish fixing module comprises a clamp holder main body, an upper cover plate, a bolt and a rubber band fixing column and is used for fixing zebra fish; the invention can realize high-precision zebra fish brain positioning.
Description
Technical Field
The invention belongs to the field of brain stereotaxic positioning, and particularly relates to a high-precision brain stereotaxic instrument suitable for zebra fish.
Background
The brain stereotaxic apparatus, also called a brain fixing device, determines the position of some nerve structures under the cortex by using a three-dimensional coordinate system defined by a mark or other reference points outside the skull so as to carry out directional stimulation, damage, drug injection, electric potential guidance and other researches on the nerve structures under the condition of non-direct-view exposure.
In recent years, more and more experiments are carried out by using zebra fish as a model animal, because the zebra fish has the characteristics of high gene homology of 85 percent with human, similar biological signal conduction channel with human, highly similar physiological function and biological structure with lactation, small individual, short experimental period, quick propagation, small drug dosage and the like; at present, zebra fish is widely used in various biological and biochemical experiments; in other experimental model animals, there are well-established brain stereotaxic apparatuses; because the zebra fish individual is very small, the accuracy is not enough to test the function of the brain stereotaxic apparatus by using the structure of the traditional brain stereotaxic apparatus, so the invention uses the ultra-precise sliding table with a micrometer to build the zebra fish brain stereotaxic apparatus, and meets the accuracy requirement of the brain stereotaxic apparatus required by matching the zebra fish individual size; with more and more experiments using zebra fish as model animals, the zebra fish brain stereotaxic apparatus is an indispensable tool, so the invention has good application prospect.
Disclosure of Invention
The invention solves the technical problem of providing a high-precision brain stereotaxic instrument suitable for zebra fish, and the positioning precision of the brain stereotaxic instrument required on the individual scale of the zebra fish is met by using a manual linear sliding table spirally driven by a micrometer; solves the problem that the brain of the zebra fish is easy to be damaged by injecting the medicament into the zebra fish cranium.
In order to achieve the above technical object, the present invention has the following technical means.
The technical scheme comprises a motion module, a zebra fish fixing module, a drilling machine module and a monitoring module; the motion module comprises a Z-axis linear sliding table (1), an XY-axis linear sliding table (2), an A-axis rotating table (3), a B-axis rotating table (4) and a base (8), wherein the A-axis rotating table and the Z-axis linear sliding table are fixed on the base through screws, the XY-axis linear sliding table is fixed on the Z-axis linear sliding table through screws, and the B-axis rotating table is fixed on the A-axis rotating table through screws; the zebra fish fixing module comprises: the clamp holder comprises a clamp holder body (5), an upper cover plate (501), a bolt (502) and a rubber band fixing column (503), wherein the upper cover plate is fixed on the clamp holder body through the bolt and can move by taking the bolt as a rotating shaft; the drilling rig module, comprising: the drilling machine comprises a motor (6), a drill bit (601), a drill chuck (602) and a motor support (603), wherein the motor is fixed on a motor base through screws and is connected with a power supply, the drill chuck is connected with a main shaft of the motor, and the drill bit is clamped through the drill chuck and is replaceable; the monitoring module includes: the camera comprises a macro camera (7) and a macro camera movement supporting structure (701), wherein the macro camera movement supporting structure is fixed on a base, and the macro camera is fixed on the macro camera movement supporting structure.
The Z-axis linear sliding table is used for driving the drilling machine module to vertically move on a Z axis, and the position of the Z axis of the drilling machine is adjusted through a rotary rod (101).
The XY-axis linear sliding table is used for driving the drilling machine module to horizontally move on an XY axis, the X-axis position of the drilling machine is adjusted through a rotating rod (201), and the Y-axis position of the drilling machine is adjusted through a rotating rod (202).
The A-axis rotating platform is used for driving the zebra fish fixing module to rotate on the horizontal plane, and the positions of the zebra fish fixing module on the horizontal plane rotating shaft are adjusted through rotating rods (301 and 302).
The B-axis rotating platform is used for driving the horse fish clamping device to rotate on the horizontal plane, and the position of the zebra fish fixing module on the horizontal plane rotating shaft is adjusted through a rotating rod (401).
Zebra fish fixing module, including holder main part (5), upper cover plate (501), bolt (502), rubber band fixed column (503): the upper cover plate is fixed on the holder main body through a bolt and can rotate by taking the bolt as an axis. Clamping the zebra fish: and (3) placing the zebra fish on the clamp holder main body, rotating the upper cover plate, and connecting the rubber band with proper elasticity to the rubber band fixing column to finish the fixation of the zebra fish.
The drilling machine module comprises a motor (6), a drill bit (601), a drill chuck (602) and a motor bracket (603): the motor is fixed on the motor bracket through a screw, the drill chuck is connected with a motor main shaft, and the drill bit is mainly connected with the motor through the drill chuck; the drill is used for driving the drill to rotate to drill a hole with a specified size on the hard skull of the zebra fish, and then the micro-injection needle filled with the medicine is released into the zebra fish cranium through the hole.
The macro camera (7) is used for observing the penetration condition of the zebra fish skull in the propelling process of the drilling machine.
The macro camera movement support structure (701) has the camera position adjusting functions of XYZ three-axis displacement, A-axis rotation (horizontal plane) and B-axis rotation (vertical plane), and the movement of the camera can be opened or limited through a knob (702).
The base (8) is used for fixing each part, and the stability of the device in operation is improved by the weight of the base.
Drawings
Fig. 1 is an overall structure diagram of a five-axis zebra fish brain stereotaxic apparatus based on a precision sliding table.
Fig. 2 is a detailed structure of a zebra fish fixing module of the five-axis zebra fish brain stereotaxic apparatus based on the precise sliding table.
Fig. 3 is a detailed structure of a macro camera and a camera supporting motion module of the five-axis zebra fish brain stereotaxic apparatus based on the precision sliding table.
Fig. 4 is a detailed structure of a drilling machine module of the five-axis zebra fish brain stereotaxic apparatus based on the precise sliding table.
FIG. 5 is a flow chart of an embodiment.
Reference numerals: 1-Z axis linear slide; 101-Z linear slipway turnbars; 2-XY linear sliding table; 201-XY axial linear slipway X-axis rotary rod; a 202-XY axis linear sliding table Y-axis rotating rod; 3-A axis rotating platform; the 301-A shaft rotating platform rotates to lock the rotating rod; a rotation angle fine adjustment rotary rod of a 302-A shaft rotary table; 4-B axis rotating table; 401-B axis rotating platform jump reading fine tuning rotary rod; 5-zebrafish fixing module body; 501-zebra fish fixing module upper cover plate; 502-zebrafish fixed module latch; 503-zebra fish fixing module rubber band fixing column; 6, a motor; 601-a drill bit; 602-drilling clamping; 603-a motor support; 7-macro camera; 701-a macro camera movement support structure; 702-macro camera motion locking knob.
Detailed Description
The present invention will be further described with reference to the following examples and accompanying drawings.
As shown in fig. 1-4, the robot comprises a Z-axis linear sliding table (1), an XY-axis linear sliding table (2), an A-axis rotating table (3), a B-axis rotating table (4), a zebra fish fixing module (5), a drilling machine module (6), a microspur camera (7), camera movement supporting structures (701, 702) and a base (8); the Z-axis linear sliding table is fixed on the base, the XY-axis linear sliding table is fixed on the Z-axis linear sliding table, and the drilling machine module is fixed on the XY-axis linear sliding table; the drilling machine module comprises a motor, a motor bracket, a drill chuck and a drill bit, wherein the motor is fixed on a motor base, the drill chuck is connected with the motor, and the drill bit is fixed on a main shaft of the motor through the drill chuck; the A-axis rotating table is fixed on the bottom plate, the B-axis rotating table is fixed on the A-axis rotating table through the adapter, and the zebra fish fixing module is fixed on the A-axis rotating table through the adapter; the camera motion supporting structure is fixed on the bottom plate, and the camera is fixed on the camera motion supporting structure.
In the embodiment, a zebra fish brain stereotaxic method and a zebra craniotomy medicine injection method are shown in fig. 5, and the specific implementation steps are as follows.
Step 1: one tail of the zebra fish is selected, and the zebra fish is placed in an anesthetic for medicated bath anesthesia.
Step 2: according to the size of the zebra fish individual, selecting a rubber band with proper elasticity, and pulling and placing the rubber band on a rubber band fixing column of the zebra fish fixing module (503).
And step 3: the narcotized zebra fish is placed on the zebra fish fixing module main body, and the zebra fish is slowly pressed by the upper cover plate (501) under the pulling force of the rubber band.
And 4, step 4: and determining the positioning position of the head of the zebra fish. The angle between the zebra fish brain and the drill bit is in accordance with the expectation by adjusting the A-axis rotating table and the B-axis rotating table; and adjusting the Z-axis linear sliding table and the XY-axis linear sliding table to enable the contact point of the drill bit in the advancing process and the zebra fish brain to accord with the expected position.
And 5: the position of the microspur camera is adjusted, so that the relative position of the drill bit and the zebra fish brain can be clearly observed in the visual field.
Step 6: the power supply of the drilling machine is switched on, and the rotating speed of the motor is adjusted. And observing through a microspur camera, rotating an XY axis linear sliding table Y-axis rotating rod (202), and propelling a drill to drill along the Y axis and enter into the cranium of the zebra fish.
And 7: after the drill bit is confirmed to pass through the zebra fish skull, the Y-axis rotating rod (202) of the XY-axis linear sliding table is rotated, so that the drill bit exits from the zebra fish skull, and the power supply of the drilling machine is turned off.
And 8: the upper cover plate (501) is opened, the zebra fish is taken out, and the micro-syringe is used for injecting the medicine into the cranium of the zebra fish through a hole generated by drilling with a drill bit.
And step 9: putting the zebra fish into clear water, injecting air into the clear water by using an injector, and waiting for the zebra fish to recover.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. The utility model provides a five zebra fish brain stereotaxic instruments based on accurate slip table which characterized in that: the zebra fish robot comprises a movement module, a zebra fish fixing module, a drilling machine module and a monitoring module; the motion module comprises a Z-axis linear sliding table (1), an XY-axis linear sliding table (2), an A-axis rotating table (3), a B-axis rotating table (4) and a base (8), wherein the A-axis rotating table and the Z-axis linear sliding table are fixed on the base through screws, the XY-axis linear sliding table is fixed on the Z-axis linear sliding table through screws, and the B-axis rotating table is fixed on the A-axis rotating table through screws; the zebra fish fixing module comprises: the clamp holder comprises a clamp holder body (5), an upper cover plate (501), a bolt (502) and a rubber band fixing column (503), wherein the upper cover plate is fixed on the clamp holder body through the bolt and can move by taking the bolt as a rotating shaft; the drilling rig module, comprising: the drilling machine comprises a motor (6), a drill bit (601), a drill chuck (602) and a motor support (603), wherein the motor is fixed on a motor base through screws, the motor is connected with a power supply, the drill chuck is connected with a main shaft of the motor, and the drill bit is clamped through the drill chuck and can be replaced; the monitoring module includes: the camera comprises a macro camera (7) and a macro camera movement supporting structure (701), wherein the macro camera movement supporting structure is fixed on a base, and the macro camera is fixed on the macro camera movement supporting structure.
2. The five-axis zebra fish brain stereotaxic instrument based on the precision sliding table according to claim 1, wherein: the motion module be used for adjusting the position of rig module and zebra fish fixed module, wherein: the Z-axis linear sliding table is used for driving the drilling machine module to vertically move on a Z axis, and the Z axis position of the drilling machine module is adjusted through a rotary rod (101); the XY axis linear sliding table is used for driving the drilling machine module to horizontally move on XY axes, the X axis position of the drilling machine module is adjusted through a rotating rod (201), and the Y axis position of the drilling machine module is adjusted through a rotating rod (202); the A-axis rotating platform is used for driving the zebra fish fixing module to do rotating motion on the horizontal plane, and the positions of the zebra fish fixing module on the horizontal plane rotating shaft are adjusted through rotating rods (301 and 302); the B-axis rotating platform is used for enabling the zebra fish fixing module to rotate on the horizontal plane, and the position of the zebra fish fixing module on the horizontal plane rotating shaft is adjusted through a rotating rod (401).
3. The five-axis zebra fish brain stereotaxic instrument based on the precision sliding table according to claim 1, wherein: the zebra fish fixing module is used for clamping and fixing zebra fish, wherein: the clamp holder main part is used for supporting the zebra fish, and the upper cover plate is used for compressing tightly the zebra fish, and rubber band fixed column joint rubber band provides suitable pressure for upper cover plate centre gripping zebra fish.
4. The five-axis zebra fish brain stereotaxic instrument based on the precision sliding table according to claim 1, wherein: the drilling machine module is used for craniotomy experiments of zebra fish, wherein: the motor base is used for fixing the motor, the drill chuck is used for fixing the drill bit and is connected with the motor spindle, and the drill bit is used for drilling holes in the zebra fish brain.
5. The five-axis zebra fish brain stereotaxic instrument based on the precision sliding table according to claim 1, wherein: the monitoring module is used for monitoring the process of locating and craniotomy of the zebra fish brain, wherein: the macro camera is used for obtaining the visual field of the drill bit which drills into the brain of the zebra fish and is connected with a computer to monitor the drilling condition of the drill bit; the movement supporting structure of the macro camera can fix the macro camera, has the functions of adjusting the position of the macro camera by three-axis displacement of XYZ, horizontal plane rotation of an A axis and vertical plane rotation of a B axis, and can open or limit the movement of the camera on each axis through a knob (702).
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| CN201911069086.2A CN110711044B (en) | 2019-11-05 | 2019-11-05 | Five-axis zebra fish brain stereotaxic instrument based on precise sliding table |
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| CN201911069086.2A CN110711044B (en) | 2019-11-05 | 2019-11-05 | Five-axis zebra fish brain stereotaxic instrument based on precise sliding table |
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| CN110711044B true CN110711044B (en) | 2021-07-27 |
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| CN111904649B (en) * | 2020-07-30 | 2022-04-22 | 深圳市瑞沃德生命科技有限公司 | Rotary positioning device and brain stereotaxic instrument |
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| CN108578006A (en) * | 2018-04-19 | 2018-09-28 | 燕山大学 | A kind of carp Naoliqing capsule auxiliary device and localization method |
| CN208114671U (en) * | 2017-04-17 | 2018-11-20 | 燕山大学 | A kind of fish fixed station that auxiliary stereotaxic apparatus uses |
| CN110178757A (en) * | 2019-04-19 | 2019-08-30 | 广东医科大学附属医院 | A kind of zebra fish cerebral trauma model and its preparation method and application |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101361679A (en) * | 2008-09-19 | 2009-02-11 | 王任直 | Establish method of cerebral hemorrhage mold of cynomolgus monkey |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040102705A1 (en) * | 2002-10-10 | 2004-05-27 | Leo Zan | Small-animal mount assembly |
| CN103919626A (en) * | 2014-04-22 | 2014-07-16 | 中国科学技术大学 | Small animal brain three-dimensional positioning system for magnetic resonance imaging scanning equipment |
| CN204169950U (en) * | 2014-09-09 | 2015-02-25 | 中国医学科学院生物医学工程研究所 | A kind of brain solid positioner |
| CN208114671U (en) * | 2017-04-17 | 2018-11-20 | 燕山大学 | A kind of fish fixed station that auxiliary stereotaxic apparatus uses |
| CN108578006A (en) * | 2018-04-19 | 2018-09-28 | 燕山大学 | A kind of carp Naoliqing capsule auxiliary device and localization method |
| CN110178757A (en) * | 2019-04-19 | 2019-08-30 | 广东医科大学附属医院 | A kind of zebra fish cerebral trauma model and its preparation method and application |
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