An injection micro-robot based on mixed driving of acoustic field and magnetic field and a control method thereof

Abstract

The application discloses an injection micro-robot based on mixed driving of sound fields and magnetic fields and a control method thereof. The injection micro-robot comprises a circular table (1), a magnetized hollow cylinder (2) and a conical glass needle (3). A groove (4) with a diameter of 100-1000 microns and a depth of 200-1000 microns is formed on the lower bottom surface of the circular table (1). The bottom surface of the conical glass needle (3) is inserted into one end of the magnetized hollow cylinder (2), and the upper bottom of the circular table (1) is inserted into the other end of the magnetized hollow cylinder (2). The outer diameter of the circular table (1) matches the inner diameter of the magnetized hollow cylinder (2), and the outer diameter of the bottom surface of the conical glass needle (3) matches the inner diameter of the magnetized hollow cylinder (2). The injection micro-robot can control the direction of the injection micro-robot and rotate the biological target to be injected in a non-contact manner at a high speed in a rotating magnetic field, thereby reducing the damage to the target.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of micro-nano operation, and particularly relates to an injection micro-robot based on mixed driving of acoustic fields and magnetic fields and a control method. BACKGROUND

[0002] Microinjection is a technique that plays an important role in biomedical research and healthcare, and is favored due to its directness of transferring contents from small molecules to large molecules and from organelles to cells.

[0003] However, cell injection can only be performed in vitro, and the efficiency and success rate of injection are not high. Since the magnetic field has the function of remote control, using the magnetic field to control drug delivery is an effective method.

[0004] The magnetic targeting method mainly uses an external magnetic field to transport drug-loaded magnetic carriers to the target site, and these drug carriers can be transported to tissues / organs in large quantities. However, this method is only suitable for treating superficial diseases, has high challenges for deep tissues, and has not been used in clinical practice. In addition, in the existing magnetic targeting delivery process, the delivered drugs are generally single solids, and it is difficult to deliver powder particles or liquids. Therefore, a new cell injection device is needed to overcome the above shortcomings.

[0005] Therefore, a simple and effective micro-robot and control method in the micro-scale range are needed to achieve targeted delivery of drugs. SUMMARY

[0006] Therefore, the present application provides an injection micro-robot based on mixed driving of acoustic fields and magnetic fields and a control method, which can solve the technical problems of insufficient driving force during injection control and difficult control of injection precision.

[0007] In order to solve the above technical problems, the present application is implemented as follows.

[0008] An injection micro-robot based on mixed driving of acoustic fields and magnetic fields, comprising:

[0009] A circular truncated cone (1), a magnetized hollow cylinder (2), and a conical glass needle (3);

[0010] A groove is opened on the lower bottom surface of the circular truncated cone, the diameter of the groove is 100-1000 microns, and the depth is 200-1000 microns, the bottom surface of the conical glass needle is inserted into one end of the magnetized hollow cylinder, and the upper bottom of the circular truncated cone is inserted into the other end of the magnetized hollow cylinder; the outer diameter of the circular truncated cone matches the inner diameter of the magnetized hollow cylinder, and the outer diameter of the bottom surface of the conical glass needle 3 matches the inner diameter of the magnetized hollow cylinder.

[0011] Preferably, the material of the circular truncated cone is flexible resin, and the circular truncated cone is formed by a 3D printer, the outer diameter of the lower base of the circular truncated cone is 800-1500 mu m, and the height of the circular truncated cone is 500-1500 mu m.

[0012] Preferably, the preparation method of the magnetized hollow cylinder is as follows: polydimethylsiloxane (PDMS) and neodymium-iron-boron (NdFeB) microparticles are mixed in a mass ratio of 1:1-1.5, then the mixture is injected into a glass forming mold, and after injection, the mold is cured at a temperature of 60-70 DEG C for 20-30 min, then the mold is demolded to obtain a hollow cylinder, the obtained hollow cylinder is placed in a magnetic field of 1.5-2.0 T for magnetization for 5-10 min to obtain a magnetized hollow cylinder, and the magnetic moment of the magnetized hollow cylinder is perpendicular to its axis; the inner diameter of the magnetized hollow cylinder is 400-1000 mu m, the outer diameter is 500-1200 mu m, and the length is 2000-5000 mu m.

[0013] Preferably, the preparation method of the conical glass needle is as follows: the target size of the conical glass needle is obtained, a glass pipette is heated, and the heated glass pipette is stretched by a needle drawing instrument, and the size of the conical glass needle formed after the stretching and melting are controlled by controlling the tension and temperature.

[0014] Preferably, the neodymium-iron-boron microparticles are neodymium-iron-boron magnetic nanoparticles, which are ferromagnetic nanoparticles.

[0015] Preferably, the groove of the tail of the micro robot is printed by flexible resin.

[0016] A control method of an injection micro robot based on a mixed driving of an acoustic field and a magnetic field, using the micro robot as described above, the control method comprising the following steps:

[0017] Step S1: placing culture solution and a drug to be injected in a culture dish with a piezoelectric ceramic sheet at the bottom, and placing the culture dish containing the culture solution and the drug to be injected in an environment with a magnetic field, wherein the drug to be injected is insoluble in the culture solution; placing the injection micro robot in the culture solution, and forming bubbles at the groove opening of the circular truncated cone under the action of surface tension;

[0018] Step S2: energizing the piezoelectric ceramic sheet, the piezoelectric ceramic sheet generates an acoustic field, the bubbles vibrate in the acoustic field generated by the piezoelectric ceramic sheet, the injection micro robot is driven to move forward by vibration, and the direction of the injection micro robot is adjusted by adjusting the direction of the magnetic field;

[0019] Step S3: when the injection micro-robot reaches the medicine to be injected, the piezoelectric ceramic piece is powered off, the injection micro-robot stops moving forward, at this time a magnetic field in the Z-axis direction is applied to the injection micro-robot, by adjusting the magnetic field in the Z-axis direction, the extrusion and recovery deformation of the magnetized hollow cylinder are realized, so that the medicine to be injected is absorbed into the magnetized hollow cylinder; the Z-axis direction refers to the direction perpendicular to the culture dish;

[0020] Step S4: power on the piezoelectric ceramic piece, the injection micro-robot continues to move forward until the cell to be injected is located on one side of the magnetized hollow cylinder, and the distance between the surface of the cell to be injected and the surface of the magnetized hollow cylinder is not more than 100-500 microns, and the piezoelectric ceramic piece is powered off;

[0021] Step S5: a rotating magnetic field in the X-Z plane or Y-Z plane is applied, the injection micro-robot rotates under the action of the rotating magnetic field, when the injection micro-robot rotates in the culture solution, local eddy current is generated in the culture solution, the local eddy current drives the cell to be injected to rotate so that the injection point of the cell to be injected is located on the central axis of the injection micro-robot, when rotating to a preset angle, the rotating magnetic field is turned off, and the injection robot and the cell to be injected stop rotating; the X-Z plane and the Y-Z plane are both planes perpendicular to the horizontal plane in the world coordinate system, the X-Z plane is parallel to the X-axis and the Z-axis, the Y-Z plane is parallel to the Y-axis and the Z-axis, the Z-axis is perpendicular to the horizontal plane, the X-axis is parallel to the tangent plane of the center point of the cell to be injected and perpendicular to the Z-axis, and the Y-axis is parallel to the tangent plane of the center point of the cell to be injected and perpendicular to the Z-axis.

[0022] Beneficial effects:

[0023] The present application drives the bubble in the groove to vibrate by applying an ultrasonic field, thereby driving the injection robot to move forward. The direction, rotating motion and extrusion motion of the robot are controlled by applying a magnetic field, realizing controllable direction, non-contact rotation and injection control.

[0024] The present application has the following technical effects:

[0025] (1) The injection micro-robot has a magnetic moment, which can control the direction of the injection micro-robot, and can also rotate the biological target to be received at a high speed in a non-contact manner in the rotating magnetic field, reducing the damage to the target.

[0026] (2) The present application improves the driving force of the injection micro-robot by the bubble driving mode, so that the injection operation can be effectively performed.

[0027] (3) The manufacturing process of the injection micro-robot has the advantages of simple implementation mode, fast operation, short time consumption, high repeatability, large injection force, controllable pose and the like, effectively controls the injection micro-robot, is beneficial to subsequent injection of the robot on biological targets, especially on biological micro-targets, and can significantly improve the operation efficiency.

[0028] (4) The control method of the application makes the cell injection no longer limited to in vitro, and improves the efficiency and success rate of cell injection, which has very important significance for the field of micro-nano operation. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The structure schematic diagram of the injection micro-robot based on the mixed driving of the sound field and the magnetic field is provided.

[0030] Figure 2 The manufacturing process schematic diagram of the glass needle of the injection micro-robot is provided.

[0031] Figure 3 The schematic diagram of the hollow cylindrical magnetization process is provided.

[0032] Figure 4 The schematic diagram of rotating the biological target to be received in a non-contact manner is provided.

[0033] Figure 5 The deformation schematic diagram of the hollow cylindrical extrusion of the injection micro-robot is provided.

[0034] BRIEF DESCRIPTION OF DRAWINGS

[0035] 1: circular table, 2: magnetized hollow cylinder, 3: conical glass needle, 4: groove DETAILED DESCRIPTION

[0036] The application will be described in detail below in combination with the drawings and examples.

[0037] As shown in the drawings, Figures 1-2 The application provides an injection micro-robot based on mixed driving of a sound field and a magnetic field, which comprises:

[0038] circular table 1, magnetized hollow cylinder 2, conical glass needle 3.

[0039] The lower bottom surface of the circular truncated cone 1 is provided with a groove 4 with a diameter of 100-1000 μm and a depth of 200-1000 μm, the bottom surface of the conical glass needle 3 is inserted into one end of the magnetized hollow cylinder 2, and the upper bottom of the circular truncated cone 1 is inserted into the other end of the magnetized hollow cylinder 2; the outer diameter of the circular truncated cone 1 matches the inner diameter of the magnetized hollow cylinder 2, and the outer diameter of the bottom surface of the conical glass needle 3 matches the inner diameter of the magnetized hollow cylinder 2.

[0040] Further, the material of the circular truncated cone 1 is flexible resin, which is printed by a 3D printer, the outer diameter of the lower bottom surface of the circular truncated cone 1 is 800-1500 μm, and the height of the circular truncated cone 1 is 500-1500 μm.

[0041] Further, as shown in Figure 3 The raw material of the magnetized hollow cylinder 2 includes polydimethylsiloxane (PDMS) and neodymium iron boron (NdFeB) particles with a particle size of 3-10 μm. The preparation method of the magnetized hollow cylinder 2 is as follows: polydimethylsiloxane (PDMS) and neodymium iron boron (NdFeB) particles are mixed in a mass ratio of 1:1-1.5, then injected into a glass forming mold, and after injection, solidified and formed at a temperature of 60-70°C for 20-30 min, then demolded to obtain a hollow cylinder, and the obtained hollow cylinder is placed in a magnetic field of 1.5-2.0 T for magnetization for 5-10 min to obtain a magnetized hollow cylinder, and the magnetic moment of the magnetized hollow cylinder is perpendicular to its axis; the inner diameter of the magnetized hollow cylinder is 400-1000 μm, the outer diameter is 500-1200 μm, and the length is 2000-5000 μm.

[0042] Further, the preparation method of the conical glass needle 3 is as follows: the target size of the conical glass needle 3 is obtained, the glass pipette is heated, and the heated glass pipette is stretched by a needle drawing instrument, and the size of the conical glass needle 3 formed after the stretching and melting are controlled by controlling the stretching force and the temperature.

[0043] Since the glass pipette is a capillary glass tube, its size is large and cannot meet the requirement of the needle tip for injection. To make the conical glass needle 3, the capillary glass tube needs to be treated to make the end of the capillary glass tube slender. The method adopted in the application is to apply a pulling force to both ends of the capillary glass tube, and at the same time, heat the middle part of the glass tube to a certain temperature. The middle part of the glass tube will become less hard and more plastic due to the temperature rise, so it is easy to stretch into a sharp end. In this process, the size of the end formed after the stretching and melting is controlled by controlling the size of the pulling force and the temperature. The capillary glass tube obtained by operation has the size condition for micro-nano operation, which is realized by using a needle pulling instrument. The gravity of the internal components of the needle pulling instrument is used as the pulling force acting on both ends of the capillary glass tube, and platinum resistance is used for heating.

[0044] The bottom inner diameter of the conical glass needle 3 is 10-100 μm, the bottom outer diameter is 200-1000 μm, and the length of the conical glass needle is 1000-5000 μm.

[0045] The circular table 1, the magnetized hollow cylinder 2, and the conical glass needle 3 are assembled by AB glue.

[0046] The application is composed of a control system of the piezoelectric ceramic sheet and an electromagnetic system. The electromagnetic system includes six electromagnets. The piezoelectric ceramic sheet generates a sound field, and the electromagnetic system generates uniform magnetic fields in x, y and z directions, and can generate magnetic fields in any direction in the xy plane, the xz plane and the yz plane. The micro robot adjusts the direction in response to the magnetic field, and then adjusts the pose of the cell to be injected by rotating. When the magnetic field in the z-axis direction is applied, the magnetized micro robot can realize the extrusion recovery motion, thereby realizing the inhalation and release of the drug.

[0047] The conical glass needle of the injection micro robot is obtained by heating and stretching a glass tube, and can pierce into a cell. The magnetized hollow cylinder 2 is made of polydimethylsiloxane (PDMS) and neodymium-iron-boron (NdFeB) particles (5 μm in diameter), and is magnetized in a 1.5T magnetic field perpendicular to the axis, responsible for the pose adjustment of the cell and the inhalation and output of the drug. The groove of the circular table mainly provides bubbles, and the bubbles are oscillated in production to provide driving force.

[0048] The direction of the robot is controlled by applying magnetic fields in different directions in the xy plane, and then a sound field is applied to make the micro robot move forward. When the robot approaches the cell, a rotating magnetic field is applied to make the robot rotate and drive the cell to rotate to adjust the pose. Finally, a magnetic field in the z-axis direction is applied, and the micro robot generates an extrusion motion.

[0049] The magnetic cavity of the injection micro-robot has a magnetic moment, which can drive the injection micro-robot to adjust the direction, rotational movement and cavity extrusion following the change of the magnetic field; the groove can form bubbles in the liquid, and the bubbles vibrate in the acoustic field to drive the robot to move forward; the electromagnetic system is used to generate a magnetic field to adjust the pose and cavity extrusion of the injection micro-robot, the piezoelectric ceramic sheet is used to generate an acoustic field for bubble vibration, and the injection micro-robot moves in the acoustic field to the destination and drives the injection micro-robot.

[0050] When a magnetic field in an xy plane is applied, the injection micro-robot can adjust the movement direction in the xy plane; when a time-varying electric field is applied to the piezoelectric ceramic sheet, the high-speed vibration of the bubbles in the tail groove propels the robot to move forward; when a magnetic field rotating around the y axis is applied, the injection micro-robot can rotate around the y axis to drive the cell to rotate, so as to adjust the pose of the cell; when a magnetic field in the z axis direction is applied, the injection micro-robot has extrusion movement.

[0051] Further, the neodymium-iron-boron particles are neodymium-iron-boron magnetic nanoparticles, which are ferromagnetic nanoparticles.

[0052] Further, the tail groove of the micro-robot is printed by flexible resin.

[0053] Further, the conical glass needle of the micro-robot is prepared at high temperature.

[0054] As shown in Figures 4-5 The application provides a control method of an injection micro-robot based on mixed driving of an acoustic field and a magnetic field, which uses the injection micro-robot as described above, and the control method comprises the following steps:

[0055] Step S1: placing culture solution and a drug to be injected in a culture dish with a piezoelectric ceramic sheet at the bottom, and placing the culture dish containing the culture solution and the drug to be injected in an environment with a magnetic field, wherein the drug to be injected is insoluble in the culture solution; placing the injection micro-robot in the culture solution, and forming bubbles at the groove opening of the circular table under the action of surface tension;

[0056] In this embodiment, the drug to be injected is insoluble in the culture solution, and the drug to be injected can be a powdery substance or a solid.

[0057] Step S2: energizing the piezoelectric ceramic sheet, the piezoelectric ceramic sheet generates an acoustic field, the bubbles vibrate in the acoustic field generated by the piezoelectric ceramic sheet, the injection micro-robot is driven to move forward by vibration, and the advancing direction of the injection micro-robot is adjusted by adjusting the direction of the magnetic field;

[0058] Step S3: when the injection micro-robot reaches the medicine to be injected, the piezoelectric ceramic sheet is powered off, the injection micro-robot stops moving forward, at this time a magnetic field in the Z-axis direction is applied to the injection micro-robot, by adjusting the magnetic field in the Z-axis direction, the extrusion and recovery deformation of the magnetized hollow cylinder are realized, so that the medicine to be injected is absorbed into the magnetized hollow cylinder; the Z-axis direction refers to the direction perpendicular to the culture dish;

[0059] In this embodiment, the magnetized hollow cylinder is extruded by applying a magnetic field in the Z-axis direction; the magnetized hollow cylinder is restored to its original shape when the magnetic field in the Z-axis direction is removed.

[0060] Step S4: power on the piezoelectric ceramic sheet, the injection micro-robot continues to move forward until the cells to be injected are located on one side of the magnetized hollow cylinder, and the distance between the surface of the cells to be injected and the surface of the magnetized hollow cylinder is not more than 100-500 μm, and the piezoelectric ceramic sheet is powered off.

[0061] Step S5: a rotating magnetic field in the X-Z plane or Y-Z plane is applied, the injection micro-robot rotates under the action of the rotating magnetic field, when the injection micro-robot rotates in the culture solution, local eddy currents are generated in the culture solution, the local eddy currents drive the cells to be injected to rotate so that the injection point of the cells to be injected is located on the central axis of the injection micro-robot, when the rotation reaches a preset angle, the rotating magnetic field is turned off, and the injection robot and the cells to be injected stop rotating; the X-Z plane and the Y-Z plane are both planes perpendicular to the horizontal plane in the world coordinate system, the X-Z plane is parallel to the X-axis and the Z-axis, the Y-Z plane is parallel to the Y-axis and the Z-axis, the Z-axis is perpendicular to the horizontal plane, the X-axis is parallel to the tangent plane passing through the center point of the cells to be injected and perpendicular to the Z-axis, and the Y-axis is parallel to the tangent plane passing through the center point of the cells to be injected and perpendicular to the Z-axis.

[0062] Further, the piezoelectric ceramic sheet is powered off, and a magnetic field in the Z direction is applied to the injection device, the magnetized hollow cylinder is extruded by adjusting the magnetic field in the Z-axis direction, so that the medicine is injected into the cells.

[0063] Embodiment 1 of the present application provides a preparation method of an injection micro-robot. The specific process is as follows:

[0064] Step 1, the capillary glass tube itself is too large to meet the requirements of the needle tip for injection. To make the end effector that can be injected, the capillary glass tube needs to be processed to make the end of the capillary glass tube become slender. The method adopted in the present application is to apply tension to both ends of the capillary glass tube, while heating the middle part of the glass tube to a certain temperature. The middle part of the glass tube will become less hard and more plastic due to the increase in temperature, so it is easy to stretch into a sharp tip. In this process, the size of the tip formed after the stretching and melting can be controlled by controlling the size of the tension and the height of the temperature. The capillary glass tube obtained by operation has the size conditions for micro-nano operation. This step can be realized by using a needle pulling instrument. The gravity of the internal components of the needle pulling instrument is used as the tension acting on both ends of the capillary glass tube, and platinum resistance is used for heating.

[0065] Step 2, first, the same mass of PDMS solution and NdFeB powder are stirred to a black uniform viscous liquid, then a curing agent with a mass ratio of 10:1 is added to obtain an NdFeB / PDMS mixed solution. Then the NdFeB / PDMS mixed solution is injected into the mold. Then the mold injected with the NdFeB / PDMS mixed solution is placed in a constant temperature oven at 70°C for thirty minutes to solidify the NdFeB / PDMS mixed solution. Remove the mold to obtain a hollow cylinder. Finally, the hollow cylinder is placed in a 1.5T magnetic field for magnetization, so that the magnetic moment in the hollow cylinder is perpendicular to the axis.

[0066] Step 3, the glass needle tip, the hollow cylinder and the groove printed by the 3D printer made in steps 1 and 2 are assembled with AB glue. The assembled injection robot is placed in a liquid to exclude air in the robot, and a bubble is formed in the groove.

[0067] Step 4, in a liquid environment, a magnetic field is first applied to adjust the direction of the robot. Second, turn on the ultrasonic field, the bubble vibrates in the ultrasonic field to push the robot to move forward. When the robot reaches the drug, the drug is sucked into the robot by applying a z-axis magnetic field to squeeze and restore the deformation. Control the robot to move towards the cell, change the direction of the robot when it is close to the cell to make the robot move next to the cell, apply a rotating magnetic field to rotate the cell and change its pose. Control the robot to make the needle tip pierce into the cell, and apply a z-direction magnetic field to make the hollow cylinder squeeze to inject the drug into the cell.

[0068] The method of combining magnetic field and acoustic field applied in the control of cell injection in vivo and in vitro, which is characterized in that: the end of the stretched fuse capillary glass tube is made to meet the requirements of injection; the magnetic field can not only control the direction of movement, but also make the robot rotate to rotate the cells non-contact; in addition, the magnetic field can also make the hollow cylinder produce extrusion-recovery deformation to provide drugs; the acoustic field is responsible for the driving force, which can also effectively operate the small targets deposited on the bottom; the magnetic field and the acoustic field effectively improve the accuracy of the control of cell injection.

[0069] The above specific embodiments only describe the design principles of the present application, and the shapes and names of the components in the description can be different and are not limited. Therefore, those skilled in the art of the present application can modify or equivalently replace the technical solutions described in the foregoing embodiments; and these modifications and replacements do not deviate from the purpose and technical solutions of the present application, and should all belong to the protection scope of the present application.

Claims

1. A control method of an injection micro-robot based on a mixed driving of an acoustic field and a magnetic field, the control method comprising the following steps: Step S1: placing a culture solution and a drug to be injected in a culture dish with a piezoelectric ceramic sheet at the bottom, and placing the culture dish containing the culture solution and the drug to be injected in an environment with a magnetic field, the drug to be injected being insoluble in the culture solution; placing the injection micro-robot in the culture solution, the culture solution forming bubbles at the opening of the groove of the circular truncated cone under the action of surface tension; Step S2: energizing the piezoelectric ceramic sheet, the piezoelectric ceramic sheet generating an acoustic field, the bubbles vibrating in the acoustic field generated by the piezoelectric ceramic sheet, the injection micro-robot being driven to move forward by vibration, and the direction of the injection micro-robot being adjusted by adjusting the direction of the magnetic field; Step S3: when the injection micro-robot reaches the drug to be injected, the piezoelectric ceramic sheet is de-energized, the injection micro-robot stops moving forward, a magnetic field in the Z-axis direction is applied to the injection micro-robot, the magnetic field in the Z-axis direction is adjusted to realize the extrusion and recovery of the deformation of the magnetized hollow cylinder, and the drug to be injected is absorbed into the magnetized hollow cylinder; the Z-axis direction refers to a direction perpendicular to the culture dish; Step S4: energizing the piezoelectric ceramic sheet, the injection micro-robot continues to move forward until the cell to be injected is located on one side of the magnetized hollow cylinder and the distance between the surface of the cell to be injected and the surface of the magnetized hollow cylinder is not more than 100-500 μm, and the piezoelectric ceramic sheet is de-energized; Step S5: applying a rotating magnetic field in the X-Z plane or the Y-Z plane, the injection micro-robot rotates under the action of the rotating magnetic field, and when the injection micro-robot rotates in the culture solution, a local eddy current is generated in the culture solution, the local eddy current drives the cell to be injected to rotate so that the injection point of the cell to be injected is located on the central axis of the injection micro-robot, when the rotation reaches a preset angle, the rotating magnetic field is turned off, and the injection micro-robot and the cell to be injected stop rotating; the X-Z plane and the Y-Z plane are both planes perpendicular to the horizontal plane in the world coordinate system, the X-Z plane is parallel to the X-axis and the Z-axis, the Y-Z plane is parallel to the Y-axis and the Z-axis, the Z-axis is perpendicular to the horizontal plane, the X-axis is parallel to the tangent plane passing through the center point of the cell to be injected and perpendicular to the Z-axis, and the Y-axis is parallel to the tangent plane passing through the center point of the cell to be injected and perpendicular to the Z-axis.

2. An injection micro-robot based on mixed driving of acoustic field and magnetic field, applied to the control method of claim 1, characterized in that, The injection micro-robot comprises: a circular truncated cone (1), a magnetized hollow cylinder (2), and a conical glass needle (3); a groove (4) is opened on the lower bottom surface of the circular truncated cone (1), the diameter of the groove (4) is 100-1000 μm, and the depth of the groove (4) is 200-1000 μm, the bottom surface of the conical glass needle (3) is inserted into one end of the magnetized hollow cylinder (2), and the upper bottom of the circular truncated cone (1) is inserted into the other end of the magnetized hollow cylinder (2); the outer diameter of the circular truncated cone (1) matches the inner diameter of the magnetized hollow cylinder (2), and the outer diameter of the bottom surface of the conical glass needle (3) matches the inner diameter of the magnetized hollow cylinder (2).

3. The injection micro-robot of claim 2, wherein, The material of the circular truncated cone (1) is flexible resin, and the circular truncated cone (1) is formed by a 3D printer; the outer diameter of the lower bottom surface of the circular truncated cone (1) is 800-1500 microns; and the height of the circular truncated cone (1) is 500-1500 microns.

4. The injection micro-robot of claim 2, wherein, The preparation method of the magnetized hollow cylinder (2) is as follows: polydimethylsiloxane (PDMS) and neodymium-iron-boron (NdFeB) microparticles are mixed in a mass ratio of 1:1-1.5, then the mixture is injected into a glass forming mold, and after injection, the mixture is cured and formed at a temperature of 60-70 DEG C for 20-30 minutes; after curing, the hollow cylinder is demolded, and the obtained hollow cylinder is placed in a magnetic field of 1.5-2.0 T for magnetization for 5-10 minutes to obtain the magnetized hollow cylinder, and the magnetic moment of the magnetized hollow cylinder is perpendicular to the axis thereof. The inner diameter of the magnetized hollow cylinder is 400-1000 microns, the outer diameter is 500-1200 microns, and the length is 2000-5000 microns.

5. The injection micro-robot of claim 2, wherein, The preparation method of the conical glass needle (3) is as follows: the target size of the conical glass needle (3) is obtained, a glass pipette is heated, and the heated glass pipette is stretched by a needle drawing instrument; the size of the conical glass needle (3) formed after the stretching and melting are controlled by controlling the tension and temperature.

6. The injection micro-robot of claim 4, wherein, The neodymium-iron-boron microparticles are neodymium-iron-boron magnetic nanoparticles, which are ferromagnetic nanoparticles.

7. The injectable micro-robot of any one of claims 2-6, wherein, The groove (4) of the tail of the micro robot is printed by flexible resin. The material of the circular truncated cone (1) is flexible resin, and the circular truncated cone (1) is formed by a 3D printer; the outer diameter of the lower bottom surface of the circular truncated cone (1) is 800-1500 microns; and the height of the circular truncated cone (1) is 500-1500 microns.

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