中文摘要：

给出了一种生物机器人遥控导航系统，通过刺激大鼠脑部特定部位实现对大鼠的导航控制，系统主要包括：无线参数发射装置和植入式神经刺激系统两部分．发射装置主要由单片机（C8051F330）、无线调频发射芯片（QN8027）和功率放大电路组成，神经刺激系统由单片机（C8051F330）、无线调频接收芯片（QN8025）、模拟开关和植入式电极组成．植入式刺激系统采用表贴原件焊接，体积为20mm×15mm×3mm，质量为6g（含可充电锂电池3g）．人鼠内侧前脑束（MFB）区单侧和丘脑腹后外侧核（VPL）左右双侧被选中作为刺激神经位点，每个神经位点植入1对电极．每对电极作为1个通道与神经刺激系统相连，可以通过无线发射装置实时调节每个通道的电流刺激参数．实验结果表明：适当的电流刺激大鼠MFB区可以实现对大鼠的虚拟奖励使之向前行走，适当的电流刺激VPL区可以控制大鼠左转或右转．

英文摘要：

A telecontrol navigation system for bio-robot is developed, which is applicable to the navigation control of rats by stimulating some particular brain areas. The system basically consists of two parts, i.e., wireless parameters trans- mitter device （WPTD） and implantable neural stimulation system （INSS）. The WPTD contains a single-chip microcomputer （C8051F330）, a wireless frequency modulation （FM） transmitter chip （QN8027） and power amplifier （PA） circuits. The INSS includes a C8051F330, a wireless FM receiver chip （QN8025）, analog switches, and implantable electrodes. The INS S is fabricated of surface mount devices （SMD） with the dimension of 20 mm×15 mm ×3mm, weight of 6 g （including a rechargeable lithium battery, 3 g）. Lateral medial forebrain bundle （MFB） and ventral posterlateral thalamic nucleus （VPL） are selected as the brain sites to be stimulated, and each brain site is implanted into a pair of electrodes. Each pair of electrodes as one channel is connected with INSS, so that WPTD can regulate the signal parameters of the neural stimulation in each channel in real time. Experiments indicate that the current stimulation of MFB with proper parameters can drives the rat to move forward as virtual reward, while the current stimulation of VPL with proper parameters can cause the rat to turn left or right.