A magnetically controlled micro-carrying robot

Abstract

The present invention relates to the field of micro-nano robot technology and discloses a magnetically controlled micro-carrying robot, comprising a micro-robot body, which is composed of three parts: a piston with a clockwise threaded surface, a sleeve, and a screw with a counterclockwise threaded surface. The robot has a simple structure and can be integrally processed on a two-photon femtosecond laser direct writer. After a layer of nickel / titanium metal film is plated on its surface using a magnetron sputtering device, the robot can be placed in a magnetic field to control movement. Due to its special cavity structure, the robot of the present invention has the ability to load, transport and release drugs. At the same time, due to the appearance characteristics of the symmetrical double helix structure, the robot has a smooth and coordinated movement state and can meet good speed requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-nano robots, and in particular to a magnetically controlled micro-carrying robot. Background Art

[0002] Generally speaking, the size of a microrobot can reach several nanometers to hundreds of microns. It can be controlled by a non-contact magnetic field and has strong operability. This type of microrobot has excellent application prospects in biomedicine, environmental remediation and other fields. It has been reported that it can be used for minimally invasive surgery, targeted therapy, cell manipulation, heavy metal detection, pollutant degradation, etc. With the development of micro-nano manufacturing, micro-nano robots based on magnetic control have attracted the attention of more and more scholars.

[0003] The magnetic field generator we commonly use is the Helmholtz coil. The low-intensity, low-frequency magnetic field generated by the electromagnetic coil can penetrate biological tissue and is harmless to the organism. At the same time, by changing the current of the electromagnetic coil, different types of magnetic fields can be generated to achieve various motion modes of the magnetic microrobot, control the position, posture and motion trajectory of the microrobot, and thus complete operational tasks or targeted transportation tasks. However, the structure of the currently proposed magnetically controlled soft microrobot still has some shortcomings: the existing magnetically controlled micro-spiral robot can achieve magnetically controlled motion, but the structure makes it difficult to achieve drug delivery functions; Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides a magnetically controlled micro-delivery robot with a symmetrical structure, smooth and coordinated movement, high efficiency, and strong drug-carrying capacity, so as to solve the problems raised in the above background technology.

[0006] (2) Technical solution

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: the microrobot includes a sleeve, a screw and a piston, the interior of the sleeve is provided with an internal cavity, the screw is located inside the internal cavity, the outer wall surface of the screw is integrally formed with a screw thread, the outer wall surface of the sleeve is integrally formed with an external thread 1, the outer wall surface of the piston is integrally formed with an external thread 2, the external thread 1 and the external thread 2 are clockwise threads, the screw thread is a counterclockwise thread, and the surfaces of the sleeve and the piston are respectively provided with a nickel-titanium magnetic layer 2 and a nickel-titanium magnetic layer 1.

[0008] Preferably, the first external thread, the second external thread and the screw thread are any one of trapezoidal threads, triangular threads or rectangular threads.

[0009] Preferably, the sleeve is provided with a sleeve hole communicating with the internal cavity, and the screw extends into the interior of the internal cavity through the sleeve hole.

[0010] Preferably, the width of the screw thread is greater than the sleeve hole.

[0011] Preferably, the bottom of the sleeve and the piston are flat.

[0012] Preferably, the end of the screw is provided with a conical head.

[0013] Preferably, the nickel-titanium magnetic layer 1 and the nickel-titanium magnetic layer 2 are made of nickel and titanium and are magnetized along the radial direction.

[0014] (3) Beneficial effects

[0015] Compared with the prior art, the present invention provides a magnetically controlled micro-carrying robot with the following beneficial effects:

[0016] 1. The microrobot of the present invention has a cavity inside its body for loading drugs. When a rotating magnetic field is applied, the clockwise-threaded sleeve and piston (connected to the screw) rotate in one direction, causing the robot body to rotate, causing the force exerted by the liquid on itself to move forward and backward. The counterclockwise-threaded screw inside the cavity rotates, allowing it to draw in external particles, thereby achieving a loading effect. Conversely, when the rotating magnetic field is reversed, an unloading effect is achieved. Due to the appearance of the symmetrical double-helix structure, its motion is smooth and coordinated, and the speed can meet the required requirements.

[0017] 2. The microrobot of this invention is manufactured using femtosecond laser 3D direct writing technology, with nickel and titanium metals sputtered using magnetron sputtering. Finally, magnetization is applied along the robot's radial direction. The robot exhibits excellent magnetic properties and can achieve a manufacturing accuracy of approximately 10 μm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front schematic diagram of the present invention;

[0019] Figure 2 It is a front cross-sectional view of the present invention;

[0020] Figure 3 It is a schematic diagram of the sleeve of the present invention;

[0021] Figure 4 Schematic diagram of the piston of the present invention;

[0022] Figure 5 Schematic diagram of the screw of the present invention;

[0023] Figure 6 This is a motion control process diagram of the present invention.

[0024] In the figure: 1. Sleeve; 2. External thread 1; 3. Screw; 4. Piston; 5. Nickel-Titanium magnetic layer 1; 6. External thread 2; 7. Nickel-Titanium magnetic layer 2; 8. Internal cavity; 9. Screw thread; 10. Conical head. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] The present invention provides a technical solution: please refer to Figure 1-6 A magnetically controlled micro-carrying robot includes an extracorporeal control module and a micro-robot integrally manufactured using a two-photon femtosecond laser direct writer. The host 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, an ultrasonic positioning device is provided outside the Helmholtz coil, and the signal of the ultrasonic positioning device is connected to the receiving end of the host computer to form a control closed loop.

[0027] The microrobot includes a sleeve 1, a screw 3 and a piston 4. An internal cavity 8 is opened inside the sleeve 1, and the screw 3 is located inside the internal cavity 8. The outer wall of the screw 3 is integrally formed with a screw thread 9, the outer wall of the sleeve 1 is integrally formed with an external thread 2, and the outer wall of the piston 4 is integrally formed with an external thread 2 6. The external thread 1 2 and the external thread 2 6 are clockwise threads, and the screw thread 9 is a counterclockwise thread. The surfaces of the sleeve 1 and the piston 4 are respectively provided with a nickel-titanium magnetic layer 2 7 and a nickel-titanium magnetic layer 1 5.

[0028] Furthermore, the external thread 1 2 , the external thread 2 6 and the screw thread 9 are any one of trapezoidal threads, triangular threads or rectangular threads.

[0029] Furthermore, a sleeve hole communicating with the internal cavity 8 is formed on the sleeve 1 , and the screw 3 extends into the interior of the internal cavity 8 through the sleeve hole.

[0030] Furthermore, the width of the screw thread 9 is greater than the sleeve hole.

[0031] Furthermore, the bottoms of the sleeve 1 and the piston 4 are flat.

[0032] Furthermore, a conical head 10 is provided at the end of the screw 3 .

[0033] Furthermore, the nickel-titanium magnetic layer 1 5 and the nickel-titanium magnetic layer 2 7 are made of nickel and titanium and are magnetized along the radial direction.

[0034] Furthermore, the size, height, diameter, screw 3 taper, thread taper, external thread 1 2, external thread 2 6 and screw thread 9 number of threads, pitch and other variables of the micro robot body can be changed.

[0035] The microrobot is manufactured using femtosecond laser 3D direct writing technology, and the nickel-titanium magnetic layer 1 5 and the nickel-titanium magnetic layer 2 7 are obtained using magnetron sputtering technology. The nickel-titanium magnetic layer 1 5 and the nickel-titanium magnetic layer 2 7 are made of nickel and titanium, and are magnetized along the radial direction. After magnetization, the nickel-titanium magnetic layer 1 5 and the nickel-titanium magnetic layer 2 7 are magnetic, which enables the robot to generate a rotating magnetic field through the Helmholtz coil to control the rotational movement of the microrobot, and relies on the structure of the external thread 1 2 and the external thread 2 6 to achieve rotational propulsion, similar to propeller propulsion. The parameters of the external thread 1 2 and the external thread 2 6 can be adjusted according to the required propulsion speed and thrust.

[0036] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

Claims

1. A magnetically controlled micro-robot, characterized in that: The invention comprises a sleeve (1), a screw (3) and a piston (4), wherein an internal cavity (8) is provided inside the sleeve (1), the screw (3) is located inside the internal cavity (8), the outer wall surface of the screw (3) is integrally formed with a screw thread (9), the outer wall surface of the sleeve (1) is integrally formed with an external thread 1 (2), and the outer wall surface of the piston (4) is integrally formed with an external thread 2 (6), the external thread 1 (2) and the external thread 2 (6) are clockwise threads, and the screw thread (9) is a counterclockwise thread, and the surfaces of the sleeve (1) and the piston (4) are respectively provided with a nickel-titanium magnetic layer 2 (7) and a nickel-titanium magnetic layer 1 (5).

2. The magnetically controlled micro-robot according to claim 1, characterized in that: The external thread 1 (2), the external thread 2 (6) and the screw thread (9) are any one of a trapezoidal thread, a triangular thread or a rectangular thread.

3. The magnetically controlled micro-robot according to claim 1, characterized in that: The sleeve (1) is provided with a sleeve hole communicating with the internal cavity (8), and the screw (3) extends into the interior of the internal cavity (8) through the sleeve hole.

4. The magnetically controlled micro-robot according to claim 1, characterized in that: The width of the screw thread (9) is greater than the sleeve hole.

5. The magnetically controlled micro-robot according to claim 1, characterized in that: The bottoms of the sleeve (1) and the piston (4) are flat.

6. The magnetically controlled micro-robot according to claim 1, characterized in that: The end of the screw (3) is provided with a conical head (10).

7. The magnetically controlled micro-robot according to claim 1, characterized in that: The nickel-titanium magnetic layer 1 (5) and the nickel-titanium magnetic layer 2 (7) are made of nickel and titanium and are magnetized in the radial direction.

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