91results about "Micromanipulator" patented technology

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.

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.

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.

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 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.

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 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 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.

To provide a transporter that can easily and simply transport fine objects such as fine liquid and fine solid, and has excellent transporting performance, and a transport device or a transport system of fine objects which can easily and simply transport fine objects, and has excellent transporting performance, and a transport method of fine objects.SOLUTION: A transport fluid 10 includes: liquid or semisolid fluid 11; and a photoisomerization compound 13 which is present in the fluid 11 and is photoisomerized by light irradiation of a specific wavelength, where the fluid 11 flows by photoisomerizing the photoisomerization compound 13 to move a fine object 20 on a fluid surface. Further, a transport fluid 10 may be provided on a substrate 15 to constitute the transport device 1 of the fine object 20. Furthermore, a transport system comprising the transport device 1 and a lamp which irradiates fluid with light may be constructed. Further, a transport method of fine objects in which the fine object 20 on a fluid surface is transported by holding the transport fluid 10 and irradiating the fluid 11 with light.SELECTED DRAWING: Figure 1

This device (1) a propulsion element (2) comprising at least one part (20) capable of expanding / contracting deformation along a main axis (X2) connecting a front part (21) and a rear part (23); - at least two guide elements (3, 5, 7) adapted to generate a rotation of the propulsion element (2) around a first and a second rotation axis, respectively, transverse to each other and to the main axis (X2) of the propulsion element, under the influence of an energy supply; a control unit (9) configured to actuate the rotation of the propulsion element (2) about at least one axis transverse to the main axis (X2) in coordination with the deformation of the deformable element (20) of the propulsion element (2) extending / retracting along the main axis (X2); Equipped with.

The utility model relates to a micro-robot mounting bracket for photovoltaic cleaning. The mounting bracket comprises a bracket body, the bracket body is in an arch bridge shape, a track mounting seat is arranged at the arch end of the bracket body, a dovetail through groove for clamping a sliding rail of the micro-robot is formed in the track mounting seat, clamping seats horizontally extend outwards from the two sides of the bracket body, each clamping seat is composed of two clamping plates, and the clamping plates are clamped through locking bolts. After the structure is adopted, through the design of the arch-bridge-shaped support body and the cooperation with the clamping bases on the two sides, the overall supporting effect is ideal, and meanwhile fixation of the dovetail through groove and the rail is more stable.

The invention discloses a silicon-based light-driven micro-nano robot and a preparation method and application thereof, and belongs to the technical field of micro-nano robots. The alpha-Si / metal Schottky junction is innovatively applied to the micro-nano robot design for the first time, complex process steps in the prior art are replaced, the silicon-based light-driven micro-nano robot can be prepared only through the two simple processes of alpha-Si deposition and metal deposition, meanwhile, the bottlenecks that a traditional micro-nano robot is single in structure and limited in function expansion are broken through, and the method is suitable for large-scale popularization and application. The construction of a programmable, universal and expandable micro-nano robot is successfully realized, the design of the CD-ROM micro-nano robot based on alpha-Si belongs to structural innovation realized for the first time in the field, and a brand new technical path is provided for energy supply and function integration of the micro-nano robot.

A two-degree-of-freedom force and three-degree-of-freedom pose measurement piezoelectric drive precision micro-gripper and use method, belong to micro assembly robot field, including clamping module, clamping force measurement module, positioning and assembly force measurement module, optical fiber sensing module, base, precision device, its directly above is equipped with the plane to be assembled.The clamping module is arranged on the positioning and assembly force measurement module, and is used for generating ideal displacement output;The clamping force measurement module is arranged on the clamping module, is located in the middle of its compliant amplification structure, and is used for measuring the size of clamping force;The positioning and assembly force measurement module, optical fiber sensing module are arranged on the base, and the optical fiber sensing module is used for measuring pose;The positioning and assembly force measurement module is used for ensuring positioning accuracy and measuring assembly force.The application can ensure reliable clamping and positioning of precision device during assembly process, prevent the case that precision device is damaged due to too large displacement change, and realize high-precision precision assembly requirement.

The invention provides a method for acquiring machining parameters of a pH-magnetic micro-nano robot, the pH-magnetic micro-nano robot and a manufacturing method and application of the pH-magnetic micro-nano robot, and belongs to the technical field of micro-nano robots. The method comprises the following steps: carrying out theoretical modeling on a design model of the double-layer film holder to obtain a state matrix about curvature; the target model of the double-layer film holder is subjected to timoshe beam model modeling, and a target matrix about the curvature is obtained; and obtaining the machining parameters according to the state matrix about the curvature and the target matrix about the curvature. According to the method, the machining parameters of the double-layer film holder in the pH-magnetic micro-nano robot are obtained on the basis of theoretical modeling and reverse design, the trial and error processes are effectively reduced in the micro-nano robot preparation process, the time and the manufacturing cost are saved, and therefore the micro-nano robot can be accurately and efficiently prepared.

This invention discloses a flexible manipulator with variable clamping force and constant force rubbing motion, and its usage method, belonging to the field of micromanipulator technology. It includes a first driving mechanism, a second driving mechanism, a variable stiffness clamping mechanism, and a constant force rubbing motion mechanism. The variable stiffness clamping mechanism is constructed by connecting a guide beam assembly, a variable stiffness beam assembly, and a decoupling beam assembly in series, with a first clamping end at its end. The stiffness of the first clamping end can be adjusted by embedding a shape memory alloy. The constant force rubbing motion mechanism consists of a positive stiffness structure and a negative stiffness structure, with a second clamping end opposite to the first clamping end at its end. The decoupling beam assembly connects the two mechanisms, achieving structural decoupling. This invention solves the problems of non-adjustable clamping stiffness, slow constant force response, and mutual interference between functions in existing flexible manipulators, achieving adaptive gripping and stable rubbing motion of micro-scale objects.

The present application relates to the field of nanomaterials, and provides a kind of based on the manipulation method of star chain induction nanorobot cluster, comprising: step S1: pre-configure the composite induction field of nanorobot cluster control;Wherein, composite induction field is driven nanorobot cluster assembly into star chain structure by coarse-grained model and active particle environment;Step S2: according to star chain structure, determine the kinetic parameter of nanorobot cluster;Step S3: according to kinetic parameter, when receiving control instruction, generate the control parameter of active particle in composite induction field;Step S4: according to control parameter, control star chain structure executes the target operation corresponding to operation instruction, and after completing target operation, revoke composite induction field.

A method of controlling one or more microrobots to apply eyelash enhancements comprises obtaining digital source image data of a subject; defining an eyelash region of the subject in the source image data; generating an eyelash map based at least in part on analysis of the defined eyelash region; and generating microrobot control instructions based at least in part on the eyelash map. The control instructions are configured to cause the microrobot(s) to apply lashes to the subject based on the eyelash map. Defining the eyelash region may include extracting facial landmarks (e.g., points or contours) from the source image data, identifying the eyelash region based on the facial landmarks, and applying an image mask corresponding to the eyelash region. A modified image or 3D model can be generated based on the source image data and an eyelash recommendation. The control instructions may be further based on the eyelash recommendation.

This invention discloses an integrated sensing, driving, and control system and method for micro-nano robots based on an optical communication protocol. The system includes a control module and connected optical communication, multimodal sensing, driving, and power management modules. The optical communication module uses a preset protocol to achieve bidirectional conversion between optical and electrical signals. The downlink uses PWM encoding and near-infrared light, while the uplink uses Manchester encoding and blue light. The multimodal sensing module integrates multiple sensors, and the sampling parameters are dynamically configured by the control module. The driving module converts control commands into PWM signals to precisely drive micro-actuators. The power management module switches between working and sleep modes according to commands. The control module is responsible for command decoding and system scheduling. This system achieves efficient collaboration of communication, sensing, driving, and control on a single chip, featuring high integration, reliable communication, low latency, and low power consumption. It provides a core technology solution for the application of micro-nano robots in complex environments such as biomedicine and environmental monitoring.

A microrobot includes: a frame having a central channel; a permanent magnet received within the central channel and adapted to move relative to the central channel; a first electromagnetic coil disposed near a first end of the central channel; and a second electromagnetic coil disposed near the second end of the central channel. The permanent magnet can move in the central channel when the first electromagnetic coil and / or the second electromagnetic coil are / is powered on, so that acting force and impact force are generated between the permanent magnet and the frame, and the acting force and the impact force are suitable for driving the micro-robot to move on the surface. The robot can realize self-propulsion without depending on an external magnetic source due to integration of the permanent magnet and the electromagnetic coil.

The invention discloses a manufacturing method of a magnetic response millimeter-scale adhesion mobile robot for intragastric targeted drug delivery and pathological detection and the adhesion mobile robot. The method comprises the following steps: manufacturing a magnetic sheet with a simple harmonic magnetization curve; manufacturing a flexible frame, wherein a plurality of mounting holes for accommodating magnetic sheets are formed in the flexible frame; each magnetic sheet with a simple harmonic magnetization curve is mounted to a flexible frame, thereby forming a magnetic response millimeter-scale adhesion mobile robot for intragastric targeted drug delivery and pathological detection. According to the adhesion mobile robot manufactured through the method, the thin liquid film is transmitted on the wet and slippery surface through wave type movement of the magnetic response sheet-shaped soft material, so that crawling propelling is achieved by means of counter-acting force generated by the liquid film, the robot can stably crawl on the wet and low-friction stomach tissue surface by means of the adhesion moving characteristic, and the robot has a good application prospect. Good environmental adaptability is shown.

The present invention comprises: a single permanent magnet magnetized in the radial direction; a magnetic material unit disposed to surround the outer circumferential surface of the permanent magnet and including a first magnetic material and a second magnetic material located in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material located on both sides thereof; and a rotating unit for controlling a magnetic field by rotating the permanent magnet by 90 degrees.