A hollow conical magnetically controlled soft micro-robot

Abstract

The present invention relates to the technical field of micro-robots, and discloses a hollow conical magnetically controlled soft micro-robot, which includes an external control module and a micro-robot body. The upper computer is electrically connected to a motion controller, the motion controller is electrically connected to a servo amplifier, the servo amplifier is electrically connected to a Helmholtz coil, the Helmholtz coil is magnetically connected to the micro-robot body, and an ultrasonic positioning device is arranged outside the Helmholtz coil. The ultrasonic positioning device is signal-connected to the receiving end of the upper computer. The micro-robot provided by the present invention has a cavity opened inside the main body, which can be used for human drug transportation. At the same time, the micro-robot combines a spiral cylindrical external thread and a spiral conical external thread, making the micro-robot present a bullet shape, with small resistance. Both parts can rely on rotational spiral propulsion, enabling the structure to generate a greater propulsion force, and the micro-robot can obtain a greater propulsion speed.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-robots, and particularly to a hollow conical magnetically controlled soft micro-robot. Background Art

[0002] Generally speaking, the size of micro-robots ranges from several hundred nanometers to several hundred micrometers, and they can be controlled by non-contact magnetic fields, with strong operability. With the development of micro-nano manufacturing, magnetically controlled micro-nano robots have received increasing attention from more scholars. This technology is expected to break the traditional surgical concept, enabling artificial "doctors" to deftly shuttle within the human body to complete tasks such as cell manipulation, blood clot cleaning, local repair, and targeted drug delivery, with broad application prospects.

[0003] Common magnetic field generators include Helmholtz coils and Maxwell coils. The low-intensity and low-frequency magnetic fields generated by electromagnetic coils can penetrate biological tissues and are harmless to organisms. At the same time, different types of magnetic fields can be generated by changing the current in the electromagnetic coils to achieve various motion modes of magnetic micro-robots. In addition, in micro-operation and minimally invasive medical treatment, etc., by controlling the position, posture, and motion trajectory of micro-robots, operation tasks or targeted transportation tasks can be completed. However, there are still some deficiencies in the structure of the currently proposed magnetically controlled soft micro-robots: the existing magnetically controlled micro-spiral robots can achieve magnetically controlled motion, but it is difficult for their structures to realize the function of carrying drugs; the structures of micro-robots do not have the ability to perform tasks such as cleaning blood clots and dredging blood vessels; in addition, monomeric series assembly cannot be achieved between the same type of monomeric robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a hollow magnetically controlled conical soft micro-robot. The overall structure of the robot body is symmetrical, with fast motion speed, stable posture, and strong drug-carrying capacity, and it can coordinate motion to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A hollow conical magnetically controlled soft micro-robot, comprising an external control module and a micro-robot body. The upper computer is electrically connected to a motion controller, the motion controller is electrically connected to a servo amplifier, the servo amplifier is electrically connected to a Helmholtz coil, the Helmholtz coil is magnetically connected to the micro-robot, and an ultrasonic positioning device is arranged outside the Helmholtz coil. The ultrasonic positioning device is signal-connected to the receiving end of the upper computer to form a control closed-loop.

[0007] The micro-robot body includes a robot main body, an external thread, a peripheral magnetic particle layer structure, a drug-loading cavity structure, and an internal thread structure in the cavity. Its driving control comes from a Helmholtz coil, and the motion pose feedback comes from an ultrasonic positioning device.

[0008] Preferably, the robot main body includes a conical head and a cylindrical tail micro-nano structure. The conical head and the cylindrical tail are an integral whole. The size and height of the cylindrical tail of the robot main body, the size, angle, and height of the conical head can be varied. The ratio of the height of the conical head to the height of the cylindrical tail is usually 1:1 or 1.5:1.

[0009] Preferably, an external thread is fixedly connected to the outer circle of the robot main body. The robot main body and the external thread are an integral whole. A drug-loading cavity is arranged inside the robot main body, and an internal thread is fixedly connected to the inner wall of the cavity. The length of the internal thread is 1 / 3 or 1 / 4 of the length of the robot cavity.

[0010] Preferably, the external thread and the internal thread can be composed of trapezoidal threads, triangular threads, and rectangular threads. The external threads and internal threads of different micro-robots can be matched, and the parameters of the external thread and the parameters of the internal thread are matched.

[0011] Preferably, the micro-robot body is manufactured by femtosecond laser 3D direct writing technology, and the peripheral magnetic particle layer is obtained by magnetron sputtering technology. The material of the peripheral magnetic particle layer is nickel or titanium, and the peripheral magnetic particle layer is magnetized along the radial direction.

[0012] Preferably, after being magnetized, the peripheral magnetic particle layer has magnetism, enabling the robot body to be controlled to rotate by a rotating magnetic field generated by a Helmholtz coil. The rotation propulsion is realized by relying on the structure of the external thread, similar to the propulsion of a propeller. The parameters of the external thread can be adjusted according to the required propulsion speed and thrust.

[0013] Compared with the prior art, the hollow conical magneto-controlled soft micro-robot provided by the present invention has the following beneficial effects:

[0014] 1. In the micro-robot of the present invention, a cavity is provided inside the main body, which can be used for transporting drugs in the human body. At the same time, the micro-robot combines a spiral cylindrical external thread and a spiral conical external thread, making the micro-robot present a bullet shape, with less resistance. Both parts can rely on rotational spiral propulsion, enabling the structure to generate a greater propulsion force, and the micro-robot can obtain a greater propulsion speed.

[0015] 2. The microrobot of the present invention has a cone-shaped head on the left side of the robot body, and the center of gravity of the microrobot is in the middle right position, which can make the microrobot move more smoothly and the microrobot will not deviate at will. The turning effect is better, the magnetic field is easier to control, the reaction speed is faster, and it can be used in different vascular environments in the human body. At the same time, the microrobot adopts a cone-shaped head, which can improve the penetration ability of the robot, so that the microrobot can remove blood clots and dredge blood vessels, and can also better penetrate structures such as cell membranes, so that the microrobot can better reach the location of drug delivery. When the drug in the cavity is transported to the specified location, the drug can be released by ultrasonic vibration.

[0016] 3. The micro robot of the present invention is manufactured by femtosecond laser 3D direct writing technology, and the metal material nickel or titanium is sputtered by magnetron sputtering technology, and finally magnetized along the radial direction of the robot. The robot has good magnetic properties, and the manufacturing accuracy of the robot can reach about 10nm.

[0017] 4. Two identical micro-robot bodies can be matched with each other by spirals, and the same type of single-body robots can be assembled in series. When two micro-robots are connected together, they can generate greater driving force and propulsion speed. Similarly, three or more micro-robot bodies can be connected to generate greater driving force and can complete collaborative work. When a single micro-robot body completes a specified task, multiple robot bodies can be assembled in spirals to increase the overall size of the micro-robot body and make it easier to remove the robot body from the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a micro robot according to an embodiment of the present invention;

[0020] Figure 2 For the present invention Figure 1 A schematic cross-sectional structure diagram of ;

[0021] Figure 3 The figure is a schematic diagram of the module composition structure and motion control flow of the micro robot according to an embodiment of the present invention.

[0022] In the figure: 1. Micro-robot body; 11. Robot main body; 12. Conical head; 13. External thread; 14. Internal thread; 15. Cavity; 16. Cylindrical tail; 17. Peripheral magnetic particle layer; 2. Host computer; 3. Motion controller; 4. Servo amplifier; 5. Helmholtz coil; 6. Ultrasonic positioning device. Specific implementation mode

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] Embodiment

[0026] See Figures 1 to 3 , the hollow conical magnetically controlled soft micro-robot provided by the present invention includes an external control module and a micro-robot body 1. The host computer is electrically connected to a motion controller 3, the motion controller 3 is electrically connected to a servo amplifier 4, the servo amplifier is electrically connected to a Helmholtz coil 5, the Helmholtz coil 5 is magnetically connected to a robot main body 11, and an ultrasonic positioning device 6 is arranged outside the Helmholtz coil 5. The ultrasonic positioning device 6 is signal-connected to the receiving end of the host computer to form a control closed loop.

[0027] The micro-robot includes a robot main body 11, an external thread 13, a peripheral magnetic particle layer 17, a drug-carrying cavity structure and an internal cavity thread structure. Its drive control comes from the Helmholtz coil, and the motion pose feedback comes from the ultrasonic positioning device. The robot main body includes a conical head 12 and a cylindrical tail micro-nano structure. The conical head and the cylindrical tail are an integral whole. The size, height of the cylindrical tail of the robot main body, the size, angle and height of the conical head can be changed. The ratio of the height of the conical head to the height of the cylindrical tail is usually 1:1 or 1.5:1.

[0028] An external thread 13 is fixedly connected to the outer circle of the robot main body. The robot main body 11 and the external thread 13 are an integral whole. A medicine-carrying cavity 15 is arranged inside the robot main body. An internal thread 14 is fixedly connected to the inner wall of the cavity. The length of the internal thread is 1 / 3 or 1 / 4 of the length of the robot cavity. The external thread and the internal thread can be composed of trapezoidal threads, triangular threads, or rectangular threads. The external threads and internal threads of different micro-robots can be matched, and the parameters of the external thread and the internal thread are matched.

[0029] The micro-robot is manufactured by femtosecond laser 3D direct writing technology. The peripheral magnetic particle layer is obtained by magnetron sputtering technology. The material of the peripheral magnetic particle layer is nickel or titanium, and the peripheral magnetic particle layer is magnetized along the radial direction. After being magnetized, the peripheral magnetic particle layer has magnetism, enabling the robot to be controlled to rotate by a rotating magnetic field generated by a Helmholtz coil. The robot realizes rotational propulsion relying on the structure of the external thread, similar to propeller propulsion. The parameters of the external thread can be adjusted according to the required propulsion speed and thrust.

[0030] The micro-robot provided by the present invention has a cavity opened inside the main body, which can be used for human drug transportation. At the same time, the micro-robot combines a spiral cylindrical external thread and a spiral conical external thread, making the micro-robot present a bullet shape with small resistance. Both parts can rely on rotational spiral propulsion, enabling the structure to generate greater propulsion force and the micro-robot to obtain a greater propulsion speed.

[0031] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

Claims

1. A hollow conical magnetically controlled soft micro-robot, characterized in that: It includes an external control module and a micro-robot body. The host computer (2) is electrically connected to a motion controller (3), the motion controller (3) is electrically connected to a servo amplifier (4), the servo amplifier (4) is electrically connected to a Helmholtz coil (5), the Helmholtz coil (5) is magnetically connected to the micro-robot body (1), and an ultrasonic positioning device (6) is arranged outside the Helmholtz coil (5). The ultrasonic positioning device (6) is signal-connected to the receiving end of the host computer (2) to form a control closed-loop; The micro-robot body (1) includes a robot main body (11), an external thread (13), a peripheral magnetic particle layer (17), a drug-loading cavity (15), and an internal thread (14) in the cavity. Its drive control comes from the Helmholtz coil (5), and the motion pose feedback comes from the ultrasonic positioning device (6); The robot main body (11) is a micro-nano structure including a conical head (12) and a cylindrical tail (16). The conical head (12) and the cylindrical tail (16) are an integral whole. The size, height of the cylindrical tail (16) of the robot main body (11), the size, angle, and height of the conical head (12) are variable. The height ratio of the conical head (12) to the height of the cylindrical tail (16) is 1:1 or 1.5:1; An external thread (13) is fixedly connected to the outer circle of the robot main body (11). The robot main body (11) and the external thread (13) are an integral whole. A drug-loading cavity (15) is arranged inside the robot main body (11), and an internal thread (14) is fixedly connected to the inner wall of the drug-loading cavity (15). The length of the internal thread (14) is 1 / 3 or 1 / 4 of the length of the robot drug-loading cavity (15); The external thread (13) and the internal thread (14) are composed of trapezoidal threads, triangular threads, or rectangular threads. The external threads (13) and the internal threads (14) of two identical micro-robot bodies (1) can be matched to achieve monomer series assembly, and the parameters of the external thread (13) and the parameters of the internal thread (14) are matched; The micro-robot body is manufactured by femtosecond laser 3D direct writing technology. The peripheral magnetic particle layer (17) is obtained by magnetron sputtering technology. The material of the peripheral magnetic particle layer (17) is nickel or titanium, and the peripheral magnetic particle layer (17) is magnetized along the radial direction; After being magnetized, the peripheral magnetic particle layer (17) is magnetic. The rotation of the micro-robot body (1) is controlled by the rotating magnetic field generated by the Helmholtz coil (5), and the rotation propulsion is realized by relying on the structure of the external thread. The parameters of the external thread (13) can be adjusted according to the required propulsion speed and thrust.

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