164results about "Micromanipulator" patented technology

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eye lashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

The invention discloses a conical asymmetric nano robot for deep tumor penetration as well as a preparation method and application of the conical asymmetric nano robot. The structure of the asymmetric nano robot is Fe3O4 (at) mPDA (at) MnO2amp; mSiO2, and is marked as FPMamp; s; an FPMamp (Fabry Perot Module); the S nano-robot is nano-particles of an asymmetric structure, one end of the asymmetric structure is of a core-shell structure, the core is spherical Fe3O4, and the shell is mesoporous polydopamine particles; one end of the rod-like structure, which is far away from the Fe3O4, is conical; mnO2 is loaded on the surface of the mesoporous polydopamine; the asymmetric structure with the conical tail part is constructed, so that the forward wedging capability of the nano-robot in the moving process is improved, and the deep tumor penetrating performance is fundamentally improved; through the same nanorobot, collaborative treatment of multiple mechanisms of photo-thermal-Fenton-GSH depletion in space and time is achieved, the overall treatment efficiency of a deep tumor area is improved, and the problems that an existing asymmetric micro / nanorobot is insufficient in deep tumor penetrating capacity, the collaborative efficiency of a treatment module is limited and the like are solved.

An automatic end effector tip position initialization mechanism for a micromanipulation system is provided. The method includes: S1, positioning a macro end effector tip, calculating a camera pose by using ArUco Tag, and realizing a three-dimensional positioning of the end effector tip by using a triangulation method, and moving the end effector to a area near a center of a focal plane based on a visual servo; S2, positioning a micro end effector tip; S3, acquiring calibration data based on a visual servo, calibrating the end effector tip and the petri dish, and obtaining a left calibration matrix and a right calibration matrix reflecting the transformation relationship between left and right micromanipulator coordinates and image coordinates; generating an intuitive human-computer interaction interface based on a mouse and a keyboard according to acquired position information. The method has obvious advantages in terms of operation accuracy, operation efficiency and repeatability.

The invention discloses a micro-robot joint driving mechanism and a multi-joint micro-robot, and relates to the technical field of micro-robots. According to the joint driving mechanism, through the axial integrated arrangement of the shell, the brushless outer rotor motor, the multi-stage meshing transmission assembly, the power output connecting piece and the circuit board and the integrated design of a stator of the brushless outer rotor motor and the circuit board, a compact micro structure is achieved; and a closed-loop position detection system formed by a magnetic encoder and a magnetic ring is matched, so that high torque output and high transmission efficiency are realized under the condition of miniaturized volume, and meanwhile, part redundancy is reduced so as to reduce the cost. The mechanism solves the problem that miniaturization, high torque and low cost are difficult to consider in the prior art, and can be widely applied to miniature multi-joint robots.

A micro-robot crane system including a microrobot crane having a back micro-robot, including a first plurality of magnets, a rotary bearing, and a separation arm, where the separation arm includes a separating tip, and a front micro-robot, including a second plurality of magnets, a mount configured to slide along the separation arm, and a mechanical stop, configured to prevent the separation arm from disengaging from the mount, and where the front micro-robot is configured to raise and lower the separation arm. Further, a method of separating an eyelash, the method including moving a first micro-robot crane to a first side of an eye, positioning a separator tip of a separator arm into a lash line of the eye by moving a front micro-robot of the first micro-robot crane, and moving the first micro-robot crane in a first direction to separate a first side of the eyelashes.

The application discloses a micro-nano robot based on a flexible hinge, a driving method and a preparation method, the micro-nano robot comprises a flexible hinge and a bubble capturing structure connected with the flexible hinge, and the flexible hinge comprises a plurality of flexible sections and rigid sections which are alternately connected; when a certain sound field is applied, the flexible sections vibrate and deform, and the rigid sections do not deform; when the sound field is stopped, the flexible sections restore the initial shape; in a liquid environment, the bubble capturing structure is used for capturing bubbles, the bubbles resonate in a sound field environment and drive the bubble capturing structure to move, and the flexible hinge deforms in the sound field environment to capture particles in the liquid, change the moving direction of the micro-nano robot or change the moving speed of the micro-nano robot.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eyelashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

The invention relates to a charged particle microscope (CPM) comprising a sample holder, for holding a sample; an ion beam column, for producing an ion beam that propagates along an ion axis onto said sample for creating a lamella in said sample; and a detector, for detecting radiation emanating from said lamella and / or said sample in response to irradiation by said ion beam. The CPM comprises a controller for at least partially controlling operation of said microscope. According to the invention, a manipulator device is provided that is arranged for transferring said lamella created in said sample out of said sample, wherein said manipulator device comprises a first elongated manipulator member with a first outer end, and a second elongated manipulator member with a second outer end. The outer ends are movable for mechanically gripping and releasing said lamella. In embodiments, the elongated manipulator members comprise off-set parts that increase manoeuvrability (accessibility) and monitorability of the manipulator device during use.

The application discloses a miniature chain actuator for humanoid robots, comprising: a miniature chain actuator body, the miniature chain actuator body comprising a driving module, a speed reduction module and a pushing module, the speed reduction module being arranged below the driving module, the pushing module being arranged on one side of the driving module and the speed reduction module, and the driving module being in transmission connection with the pushing module through the speed reduction module. The application provides a miniature chain actuator for humanoid robots, the pushing module being arranged on the other side of the driving module and the speed reduction module, the parallel arrangement mode giving consideration to the advantages of small longitudinal dimensions of the driving module and the speed reduction module, avoiding the disadvantage of large longitudinal dimension of the pushing module, and being capable of reducing the spatial size of the device as much as possible; meanwhile, the volume of the commonly used hollow cup motor integrated screw rod, electric cylinder and other actuators is greatly reduced, the machining difficulty, manufacturing and maintenance cost are avoided, and the effective extension stroke of the miniature chain actuator body is much larger than that of other linear actuators.

Exoskeleton for assisting at least one joint of an upper limb The invention relates mainly to an exoskeleton (1a) for assisting at least one joint (2, 3) of an upper limb comprising a system (4) for accompanying a movement of a part of the limb driven by the joint (2, 3), which accompanying system (4a) comprises: • a device for assisting the joint (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) comprising a bearing end on the front part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) pivotally connected (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and movable between a position separated from and a position brought closer to the bearing end (12a, 12b, 12c) of the pivot (8a, 8b, 8c);• means (14) for applying an actuating force of the support lever (8a, 8b, 8c) towards its close position, and • means (15) for adjusting said actuating force as a function of the angular position of the lever (8a, 8b, 8c) relative to a vertical axis. Figure to be published with the abstract: Fig. 1;

Exoskeleton for assisting at least one joint of an upper limb. The invention relates mainly to an exoskeleton (1a) for assisting at least one joint (2, 3) of an upper limb, comprising a support system (4) for movement of a limb part driven by the joint (2, 3), which support system (4a) comprises: • a joint assistance device (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) having a support end on the anterior part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) pivotally connected (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and movable between a position away from and a position close to the support end (12a, 12b, 12c) of the pivot (8a, 8b, 8c);• means for applying (14) an actuation force to the support lever (8a, 8b, 8c) towards its near position, and • means for adjusting (15) said actuation force as a function of the angular position of the lever (8a, 8b, 8c) with respect to a vertical axis. Figure to be published with the abbreviation: Fig. 1;

The invention belongs to the technical field of magnetic control micro-robots and intelligent control, and relates to a mudskipper-imitating magnetic control micro-robot and a control method thereof.The mudskipper-imitating magnetic control micro-robot system comprises a robot body and a control part, and the robot body is composed of two magnetic driving sub-modules and an energy storage module; the two magnetic driving sub-modules are symmetrically fixed at two ends of the energy storage module at a preset interval, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the control part comprises a magnetic field generation module for forming a driving magnetic field around the robot body and a controller for adjusting the magnetic field generation module to change the magnetic field intensity and direction so as to drive the robot body to realize jumping motion; the robot designed by the invention can adapt to large deformation of intestinal peristalsis, efficiently cross mucous membrane wrinkles, adapt to unstructured characteristics of intestinal tracts, and can accurately reach a focus area to provide a path for accurate diagnosis and treatment of intestinal diseases.

The application provides a shape memory alloy driven multi-motion mode micro soft robot, which comprises an elastic framework, an SMA driver and a mechanism bottom passive friction device; the SMA driver is fixed on the front and back surfaces of the elastic framework; the mechanism bottom passive friction device is fixed on the end of the elastic framework; the elastic framework is used for providing pre-deformation of the SMA driver at room temperature and restoring the SMA driver to the initial pre-deformation mode by using elastic potential energy; the SMA driver is used for axial compression under external electric field heating, the generated tension causes the unidirectional bending deformation of the elastic framework fixedly connected therewith, so as to generate a propelling force to drive the robot to realize a preset motion mode; and the mechanism bottom passive friction device is used for realizing a unidirectional friction force structure and realizing the directional crawling of the robot. The soft robot system of the application has high motion flexibility and adaptability and can perform diversified motion and exploration in a complex environment.

The application provides a flexible flagellum-driven swimming micro-nano robot and a control method thereof, and relates to the technical field of micro-nano robots.The robot comprises a head and a flexible flagellum, the inside of the head is provided with a control component, a monitoring component, a driving component and a power source, the driving component is connected with the flexible flagellum, and the method comprises the following steps: a control chip reads chemical concentration or light field intensity information detected by an environmental sensor; the collected chemical concentration or light field intensity information is compared with historical time information; the driving frequency of a micro-actuator is switched according to the comparison result; and the swimming micro-nano robot is driven to swim.The application fully utilizes the complex fluid-structure coupling behavior between the flexible flagellum and the fluid, does not need a complex steering mechanism, only needs simple information storage and logical judgment to change the swing frequency of the flagellum, and can realize the autonomous navigation movement of the micro-nano robot in a complex environment, and gradually approaches the target along a variable-parameter spiral trajectory.

The application discloses a preparation and editing method of a magnetic micro-nano robot with in-situ re-editing capability, and belongs to the field of micro-nano devices. The method comprises the following steps: preparing a sacrifice layer by polyvinyl alcohol, spin-coating pNIPAM to prepare a flexible hinge layer by using a photoetching process, and preparing two magnetic driving modules by using SU-8 of pre-mixed nickel nanowires with different diameters, so as to obtain the micro-nano robot after releasing. When re-editing, one of the magnetic driving modules or both of the magnetic driving modules can be selectively magnetized by an external magnetic field, and the in-situ re-editing of the micro-nano robot is completed. The preparation process of the application is simple, the re-editing of the micro-nano robot can be realized by the simple external magnetic field, more movement modes are provided, the problems of the existing micro-nano device movement modes still being rigid and the like are solved, the flexibility is further improved, and the application has important application prospects in the fields of biological medicine, environmental detection and the like.

This invention discloses a micro / nano robot, its fabrication method, and its applications. The ethyl cellulose micro / nano robot has a three-dimensional structure. It comprises a stacked magnetic layer and a functional layer. The functional layer includes a functional substance and ethyl cellulose. The functional substance is selected from at least one of drugs, fluorescent dyes, quantum dots, and catalysts. The magnetic layer includes a magnetic material and ethyl cellulose. The micro / nano robot of this invention loads a functional substance into ethyl cellulose and imparts a specific arc-shaped structure to the robot through infrared radiation post-processing. This allows the magnetically controlled micro / nano robot to achieve directional movement in a magnetic field, enabling intelligent actuation at a microscale. Furthermore, its different functional characteristics allow for better positioning and execution of functional tasks, thus possessing potential application value in precision biomedicine, visualization research, and real-time monitoring and detection.

A parallel link mechanism is configured so that a plurality of linear actuators which are supported on a base are used to linearly shift one end part of each of links so as to move an end effector coupled to the other end parts of the links. The manipulator further includes a rotation support part that is provided between the end effector and the parallel link mechanism and that supports the end effector rotatably around a predetermined rotational axis, and a hydraulic drive mechanism that generates in the end effector rotating power around the rotational axis. The manipulator imparts, from the exterior to the hydraulic drive mechanism, change in the working-fluid hydraulic pressure so as to generate movement for rotating the end effector.

The present application discloses a PMUT array-based control method and related device, relating to the field of biosensor technology. The method comprises: an excitation device sends an imaging excitation signal to a PMUT array chip at the imaging moment of a control cycle. The PMUT array chip responds to the imaging excitation signal and emits an incident sound wave. After receiving the reflected sound wave, the excitation device returns an imaging reception signal. The excitation device performs ultrasonic imaging based on the imaging reception signal. When the target driving moment of the control cycle is reached, a driving excitation signal for the target driving moment is sent to the PMUT array chip. The PMUT array chip responds to the driving excitation signal for the target driving moment and emits a target ultrasound wave to drive the micro-nano robot to move. The control cycle includes an imaging moment and at least one driving moment arranged in chronological order. The method implements self-sensing control of the micro-nano robot by alternating imaging and driving at different frequencies within the control cycle.

A manipulator comprises an inner tube, an outer tube and an output member. The outer tube is arranged such that curvature of the inner tube depends on a location of the outer tube relative to the inner tube. The output member is within the inner tube and has a centre line distanced from a centre line of the inner tube such that a location of an end of the output member relative to an input end of the inner tube depends on curvature of the inner tube. The outer tube is configured to be movable relative to the inner tube so as to control the location of the end of the output member relative to the input end of the inner tube.

The invention belongs to the crossing field of biomedical engineering, robots and acoustic metamaterials, and discloses a miniature magnetic control robot with ultrasonic sensing feedback, a magnetic soft clamp robot comprises a clamp main body and two embedded ultrasonic soft sensors, and the clamping or loosening state of a U-shaped opening of the clamp main body can be adjusted under the action of an external magnetic field; and the clamping force of the clamp main body can be wirelessly monitored in real time by ultrasonically detecting the deviation of the natural resonant frequency of the embedded ultrasonic soft sensor. According to the invention, the embedded ultrasonic soft sensor EUSS and the magnetic driving module are coupled and integrated, so that the flexible control of the magnetic driving module and the real-time feedback function of the photonic crystal sensor are integrated; the problems that a traditional magnetic control robot lacks wireless and real-time feedback capacity, and an existing capsule robot lacks a monitoring feedback function in the medicine release process can be effectively solved.

To provide a manipulation system capable of improving operability.SOLUTION: A manipulation system has: a manipulator which has the position and speed of an operation member controlled according to the drive position and drive speed of a drive device; a joystick for controlling the drive position and drive speed of the drive device; and a control circuit which has, as a movement control mode of the operation member, a position control mode in which the drive position of the drive device is controlled to a position according to a manipulated variable of the joystick and a speed control mode in which the drive speed of the drive device is controlled with a speed corresponding to the manipulated variable of the joystick. The control circuit has: an arithmetic circuit which computes a target speed of the driving device based upon an output signal from the joystick in at least one of the position control mode and speed control mode; and a drive control circuit which generates a drive signal based upon information on the target speed of the driving device output from the arithmetic circuit and supplies the drive signal to the drive device.SELECTED DRAWING: Figure 2

The invention relates to the field of instruments for helping old people, and particularly discloses a miniature robot capable of helping old people to fasten clothes and buttons, the miniature robot comprises at least two robot units which can be worn on fingers of a user, and the robot units work cooperatively to assist in completing button fastening or zipper pulling actions; each robot unit comprises an adjustable finger ring base body which is used for being matched with finger sizes of different users and ensuring stable wearing; the flexible operation surface module is positioned on the outer side of the ring base body; by adopting the dual-mode adjusting finger ring base body and combining thermoplastic material deformation and a micro motor driving technology, different finger sizes and physiological changes can be accurately adapted, the wearing stability and comfort are ensured, and the problems that a traditional auxiliary device is prone to falling off and high in compression feeling are solved; millimeter-level deformation is achieved through voltage regulation and control, the miniature button can be gently pinched and held, enough friction force can be provided to complete the button penetrating action, and the defects of finger strength attenuation and poor coordination of old people are effectively overcome.

An alternative, more precise positioning manipulator is desired. [Solution] The parallel positioning manipulator includes a retainer, a base plate, and a plurality of translational joint actuators. Each actuator includes an actuator joint having 5 degrees of freedom (DOF) on either the base plate or the retainer. When one or more of the actuators extend or retract, the pivot points or 5DOF actuator joints of the remaining actuators are made to move in the direction of any axis other than the primary operating axis of the actuator.

A method for correcting an image defect of a projection exposure system (1) is disclosed, comprising the following steps: a) providing a projection exposure system (1) with a plurality of manipulable elements (8, 9, 13, 14, 16, 18, 19, 20) and with a beam path (14), wherein the manipulable elements (8, 9, 13, 14, 16, 18, 19, 20) are arranged along, in particular in, the beam path (14) of the projection exposure system (1), and wherein a plurality of manipulators (21) are provided for manipulating the manipulable elements (8, 9, 13, 14, 16, 18, 19, 20); b) determining at least one manipulation step for correcting at least one image defect, wherein the image defect is describable by at least one image defect function, wherein for the manipulation step a manipulation command for an actuation of at least one of the manipulators (21) is determined, and c) carrying out the at least one determined manipulation step,characterized in that in step b) the actuation for moving at least one of the manipulable elements (8, 9, 13, 14, 16, 18, 19, 20) is provided with a travel distance, wherein the travel distance has a magnitude on the order of nanometers or less, or wherein the travel distance has a magnitude on the order of nanoradians or less. A projection exposure system (1) and a computer program are further disclosed.

The application discloses a remote light-driven micro-soft robot and a manufacturing and operation method thereof, and can be applied to non-structural operation environments such as environment monitoring, debris search and rescue, medical diagnosis and military investigation. The micro-soft robot mainly comprises micro-nano column support legs; the movement of the micro-soft robot is determined by the micro-nano column support legs and the interaction between the micro-nano column support legs and the environment; under the irradiation of infrared light with a certain frequency, the silicon rubber driving part doped with an infrared absorption material responds to external infrared light stimulation, converts the external infrared light stimulation into heat, and promotes the silicon rubber to expand and contract, so as to provide driving force for the soft robot. The micro-soft robot has simple structure and is not limited by traditional mechanical structures, and can realize safe, effective and stable movement under remote light driving.

The present invention relates to the field of thermal science, and in particular to a method for reconfigurable dynamic control of microscale thermal fields based on magnetic micro-nano robot clusters and a thermal encoding device. The method comprises the following steps: S1. Under the action of an ultrasonic field, the micro-nano robots are suspended and form a circular cluster; S2. An oscillating magnetic field is applied, causing the micro-nano robot cluster to transform from a circular shape into a gear shape; S3. Near-infrared light with a wavelength of 808 nm is used to illuminate the micro-nano robot cluster area, causing the micro-nano robot cluster to exhibit a thermal effect; and S4. The micro-nano robot cluster morphology is controlled by controlling the ultrasonic field and magnetic field characteristic parameters, thereby achieving reconfigurable dynamic control of the microscale thermal field within the cluster area. The thermal encoding device comprises a thermal imager, a near-infrared light source, a magnetic field generator, and an ultrasonic field generator. The present invention can achieve reconfigurable dynamic control of the microscale thermal field and can transmit information using 8-bit ASCII code through encoding and decoding processes.

The invention discloses a flexible micro clamp with a three-dimensional bridge type hinge. The flexible micro clamp comprises clamp arms, a half-bridge type three-dimensional hinge and an input base. The two clamp arms are oppositely arranged in parallel, each clamp arm comprises two flexible arms, the tail ends of the two flexible arms can be connected in a relatively rotating mode, the flexible arms are connected with the input base and are of a V-shaped symmetrical structure, and the flexible arms are of a thin plate structure; the half-bridge type three-dimensional hinge is erected on the clamp arm arrangement plane in a three-dimensional mode and has a certain width, the two flexible ends of the half-bridge type three-dimensional hinge are connected with the two flexible arms respectively to form a deformation angle, expansion and contraction movement of the two flexible arms generates uneven distribution stress in the width direction of the flexible ends of the half-bridge type three-dimensional hinge, and the half-bridge type three-dimensional hinge guides the flexible arms to generate y-direction deformation. According to the micro-clamp, the overall structure is reasonably optimized by innovating the combined structure, the structure is simple, the plane arrangement is more compact, the production cost is low, clamping is achieved by innovatively utilizing the characteristics between the half-bridge type three-dimensional hinge and the clamp arms based on the lever mechanism and the bridge type amplification mechanism, and the driving and zooming structure design of the micro-clamp is enriched.

The invention discloses a miniature continuum mechanical arm and a spiral line obtaining method thereof, belongs to the technical field of miniature machinery, and aims to solve the problem that high compliance and high rigidity cannot be considered in the prior art. Due to the elastic characteristic of a spiral band, when other parts give out actions or force for driving the whole mechanical arm to bend, a bent arm body can well adapt to driving force and generate expected continuous deformation, and compliance and rigidity are both considered on the premise that the radius of the arm is extremely small; due to the fact that force transmission type contact is carried out at multiple positions between the first spiral belt and the second spiral belt, the action of the shaft arm can be effectively transmitted, and the high-rigidity foundation is met; the shaft arm acts to enable the force transmission contact points between the spiral belts to have the tendency of slipping, mutual slipping between the spiral belts can be avoided through the further arranged anti-slipping structure, the transmission loss of the shaft arm action along the bent arm body is greatly reduced, and then high compliance and high rigidity are both considered on the premise that the arm radius is extremely small.