【作者】 刘斌；

【导师】 戴振东； 王文波；

【作者基本信息】 南京航空航天大学 ， 生物医学工程， 2012， 硕士

【摘要】 大壁虎具有在三维空间无障碍运动能力，且生物机器人本身具有运动平稳性、灵活性、环境适应性及能源消耗等多方面的优势，使得以大壁虎成为生物机器人研究的理想模型。前庭平衡系统对于大壁虎维持三维无障碍能力有着至关重要的作用，因此研究大壁虎在不同倾角表面上前庭核神经元的电活动模式，对于揭示大壁虎运动姿势的前庭控制机理，研制壁虎动物机器人以及类壁虎仿生机器人有着极大的理论指导意义。本文利用不同倾斜角度和水平瞬时加速度刺激诱发对应前庭核神经元产生特异性电活动，进行同步胞外记录，并完成离线锋电位分析、特征提取，实现该区域的基础神经信息解码工作和响应模式分析。本论文研究内容属于交叉学科的基础研究，大壁虎的前庭核神经信号记录、神经响应模式研究都包含有原创性工作，具有挑战性。神经元胞外记录是研究神经元时空响应模式的重要方法。首次在大壁虎前庭核上开展神经信号胞外记录，解决了实验中的若干关键技术问题。主要包括：使用微细镍铬合金丝自制微电极以及电极参数的标定；通过大范围开颅手术完成目标组织的暴露，以保证电极的可靠植入；设计实验刺激方式，利用实验系统保证电信号和刺激信号的同步记录，通过注射滂胺天蓝标记和组织切片进行记录位点定位；其中在刺激下神经响应模式方面，通过记录大量神经元的电活动，初步研究了大壁虎前庭核对不同倾斜角度和加速度刺激的时空响应模式，实验记录到在刺激诱发下的神经元响应可以分为无反应、抑制性反应及两种具有不同时间模式的兴奋性反应，初步完成对不同电活动现象神经信息的时空解码工作，为研究大壁虎姿势控制机制，提供了神经电生理基础。更多还原

【Abstract】 The lizard Gekko gecko is appropriate for bio-robot because of its excellent locomotion abilitieson three-dimensional terrain and high load-carrying abilities. Bionic robot lags far behind bio-robot instability, flexibility, robust, environmental adaptation and efficiency of energy when moving incomplex environment, has made them the hot spot for research.Vestibular balance system has a vital role in maintaining the ability of three dimensionalobstacle-free. Therefore, In order to reach this target, it is essential to study the responses of neuron investibular nuclei under different tilt angles. The research will be practical to modulate the animal’sbehavior. The researches of this thesis, including studies on the specificity vestibular neural signalextracellular recording by the stimuli of different tilt angles and level-instantaneous, complete offlinespike analysis, feature extraction, in order to achieve based neural information decoding and patternanalysis in Gekko gecko.The contents of this thesis is the basis research in cross-disciplinary. some works are full ofchallenges, and some method, for example, gecko’s vestibular extracellular recording, was originalwork. Neurons extracellular recording is the important ways to study the spatial-temporal responsepatterns of neurons. Before extracellular recording, some key technologies must be solved:Microelectrodes were developed with micro-wire and tested carefully; The skull above Brain stem,duramater and arachnoid was removed to ensure the advancing of microelectrodes; Design the modeof experiments stimulation; A signal acquisition system was set up to record both the neural signaland stimulation signal. Finally, the recording sites were verified by tissues. The neural responses ofgeckos’ vestibular nuclei to different stimuli were examined by extracellular recording. The positionsof recording sites were confirmed by tissue slicing. Response patterns could be classified into noresponse、suppression and excitation. The excited neurons could be further classified into twosubtypes by temporal patterns. This thesis achieves based neural information decoding and patternanalysis in geckos’ vestibular nuclei, and provides a neurophysiologic basis for studying the ability ofthree dimensional obstacle-free.更多还原