An Adaptive Magnetic Control System for a Knee Treatment Soft Robot

Abstract

The present invention discloses a magnetically controlled system for an adaptive knee joint treatment soft robot, comprising: a host computer, which is used to obtain the optimal electromagnetic coil spatial distribution according to the knee joint size and shape data and convert it into the motor movement amount; an electromagnetic coil adaptive adjustment module, which acquires the motor movement amount sent by the host computer and drives the motor to move the electromagnet to the optimal electromagnetic coil spatial distribution position; an electromagnetic coil module, which acquires the enabling signal sent by the host computer, supplies current to each electromagnetic coil, and generates a coupled space magnetic field; and a soft robot, which moves in the knee joint cavity based on the coupled space magnetic field generated by the electromagnetic coil module.

Description

Technical Field

[0001] The present invention relates to the field of magnetically controlled medical robots, and particularly to an adaptive magnetic control system for a knee joint treatment soft robot. Background Art

[0002] Soft robots have the characteristics of flexibility and high degrees of freedom, making them very suitable for performing treatment work in relatively enclosed narrow spaces or cavities of the human body, especially suitable for the treatment of human knee joint diseases.

[0003] The magnetic control technology of soft robots has the characteristics of precise control, fast response, and good robustness. By controlling the gradient magnitude and direction of the magnetic field in space, the movement direction and posture of the micro-robot can be flexibly controlled. And since the robot is controlled by an external magnetic field, it means that there is no need to integrate a power supply or other circuit elements inside the micro-robot, which not only helps to reduce the size of the micro-robot, but also improves the biocompatibility of the micro-robot and reduces its toxicity to the human body. In addition, the magnetic field has less damage to the human body and good penetrability, enabling the magnetically driven micro-robot to be applied in more medical scenarios.

[0004] However, most of the current magnetic control systems are composed of multiple fixed electromagnetic coils. Their inherent rigid structure makes it difficult to change the working space of the magnetic control system once it is designed. And due to the different sizes of patients' knee joints in clinical treatment and the different bending forms of the knee joints during treatment, the application scenarios of the magnetic control system are limited, hindering the pace of the magnetically controlled micro-robot system towards clinical treatment.

[0005] Therefore, how to overcome the working space limitation of the magnetic control system, achieve dynamic working space adjustment and optimization of the coil spatial distribution is one of the keys to the application of the magnetic control soft robot technology in clinical practice. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides an adaptive magnetic control system for knee joint treatment.

[0007] To achieve the above object, the technical solution of the present invention is as follows: The present invention provides an adaptive magnetic control system for a knee joint treatment soft robot, including:

[0008] A host computer, configured to obtain the optimal electromagnetic coil spatial distribution according to the knee joint size and shape data, and convert it into the motor movement amount;

[0009] An electromagnetic coil adaptive adjustment module, which obtains the motor movement amount sent by the host computer and drives the motor to move the electromagnet to the optimal electromagnetic coil spatial distribution position;

[0010] An electromagnetic coil module, which obtains the enable signal sent by the host computer and supplies current to each electromagnetic coil to generate a coupled space magnetic field;

[0011] Soft robot, which moves in the knee joint cavity based on the coupled spatial magnetic field generated by the electromagnetic coil module.

[0012] Furthermore, the host computer obtains the optimal spatial distribution of the electromagnetic coils according to the knee joint size and shape data, and converts it into the motor movement amount, including:

[0013] The host computer obtains the knee joint size and shape data of the patient, takes the minimum singular value of the coil magnetic field control matrix as the optimization target through the particle swarm optimization algorithm, and obtains the optimal spatial distribution of the electromagnetic coils; converts the calculated optimal spatial distribution of the electromagnetic coils into the movement amount of the motor, and sends it to the electromagnetic coil adaptive adjustment module.

[0014] Furthermore, the host computer obtains the optimal spatial distribution of the electromagnetic coils according to the knee joint size and shape data, including:

[0015] Set the pose of the immovable electromagnetic coil fixed, and take the distance and spatial attitude between the movable electromagnetic coils as boundary conditions and bring them into the particle swarm optimization algorithm;

[0016] Denote the pose of the electromagnetic coil as (λ i sinθ i cosψ i , λ i sinθ i sinψ i , λ i sinθ i , 0, θ i , ψ i ), where i = 1, 2,..., 5; the numbers of the movable electromagnetic coils are i = 1 to 4, and the number of the immovable electromagnetic coil is i = 5; (λ i sinθ i cosψ i , λ i sinθ i sinψ i , λ i sinθ i ) is the central position coordinate of the electromagnetic coil, (0, θ i , ψ i ) is the spatial attitude of the electromagnetic coil; θ i , ψ i , λ i are the nutation angle, precession angle and self-feed amount of each electromagnetic coil respectively;

[0017] Take the coordinate origin and n points in its nearby area as the optimization points, and assume the coordinate of a certain optimization point is (x op , y op , z op), the coordinates (x i,l , y i,l , z i,l ) of the target point in the local coordinate system of the electromagnetic coil can be obtained. The expression is as follows:

[0018] (x i,l , y i,l , z i,l ) = (x op - λ i sinθ i cosψ i , y op - λ i sinθ i sinψ i , z op - λ i sinθ i ) · TR i (0, θ i , ψ i ),

[0019] Calculate the magnetic field intensity matrix of a single electromagnetic coil at the target point:

[0020] B i = f coil (x i,l , y i,l , z i,l ) · TR i -1 (0, θ i , ψ i )

[0021] Among them, f coil is the mathematical model of the electromagnetic coil, and TR i (0, θ i , ψ i ) is the coordinate transformation matrix;

[0022] Obtain the magnetic field intensity control matrix A 3×5 , and perform singular value decomposition on it to obtain (σ 1 , σ 2 , σ 3 );

[0023] Repeatedly calculate for each optimization point to obtain the singular values σ 3 of the magnetic field intensity control matrices corresponding to all optimization points;

[0024] Denote σ 3min as the minimum value among all singular values σ 3 , and use the minimum singular value σ 3minTaking the pose of the movable coil as a variable for the optimization objective, the optimal electromagnetic coil layout is obtained through the particle swarm optimization algorithm.

[0025] Furthermore, the electromagnetic coil adaptive adjustment module is implemented based on the electromagnetic coil device. The electromagnetic coil device includes: a frame, a first guiding column is provided at the central position of the upper part of the frame, and a fixed electromagnetic coil is installed on the first guiding column; a second guiding column is provided at the central position of the lower part of the frame; and four movable electromagnetic coil assemblies are evenly distributed in a circular pattern between the first guiding column and the second guiding column.

[0026] Furthermore, the movable electromagnetic coil assembly includes:

[0027] A first motor, the output shaft of the first motor is connected to a second gear, and the second gear meshes with a first gear to convert the rotation amount of the first gear into the change of the precession angle of the movable electromagnetic coil;

[0028] An upper L-shaped connecting rod installed on the first guiding column;

[0029] A lower L-shaped connecting rod installed on the second guiding column;

[0030] A gear slide rail installed between the upper L-shaped connecting rod and the lower L-shaped connecting rod;

[0031] A second motor, the output shaft of the second motor is connected to a third gear, and the third gear meshes with the outer ring gear on the gear slide rail to convert the rotation amount of the outer ring gear on the gear slide rail into the change of the nutation angle of the movable electromagnetic coil;

[0032] A motor slide rail, which is connected to the movable electromagnetic coil to control the change of the feed amount of the movable electromagnetic coil.

[0033] Furthermore, the first gear is connected to the frame through four support columns evenly distributed in a circular pattern.

[0034] Furthermore, the second motor is installed on a connecting plate through a motor bracket, and a motor slide rail is installed on the connecting plate.

[0035] Furthermore, a number of rolling bearings are also installed between the connecting plate and the gear slide rail.

[0036] Furthermore, the electromagnetic coil module specifically includes:

[0037] Transmitting the enable signal sent by the host computer to the programmable power supply module, and the programmable power supply module converts the enable signal into corresponding current and passes it into each electromagnetic coil to generate a coupled spatial magnetic field to control the movement of the soft robot.

[0038] Furthermore, an injection pump is also installed on the soft robot.

[0039] The beneficial effects of the present invention are as follows: The present invention provides an adaptive magnetic control system for a knee joint treatment soft robot. The host computer obtains the optimal spatial distribution of electromagnetic coils according to the knee joint size and shape data, and converts it into the motor movement amount. An electromagnetic coil device is set to drive the motor to move and convert the motor movement amount into the nutation angle, precession angle and self-feed amount of the movable electromagnetic coil, so that the electromagnet moves to the optimal spatial distribution position of the electromagnetic coil, realizing the adaptive adjustment of the magnetic control device, solving the limitation of the current magnetic control system by the working space, resulting in the limitation of its application scenarios, and enabling the magnetic control system to perform dynamic adaptive adjustment according to the actual knee joint size and bending shape of the patient. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a schematic diagram of an adaptive magnetic control system for knee joint treatment;

[0042] Figure 2 It is a schematic diagram of the movement of a single movable electromagnetic coil;

[0043] Figure 3 It is a meshing diagram of the outer gear of the gear slide rail and the third gear;

[0044] Figure 4 It is a meshing diagram of the first gear and a single second gear;

[0045] Figure 5 It is a flow chart of the optimization of the coil distribution;

[0046] In the figure, 1 - host computer; 2 - single-chip microcomputer; 3 - motor driver; 4 - frame; 5 - support column; 6 - first gear; 7 - second gear; 8 - first motor; 9 - first guide column; 10 - second guide column; 11 - upper L-shaped connecting rod; 12 - lower L-shaped connecting rod; 13 - immovable electromagnetic coil; 14 - gear slide rail; 15 - third gear; 16 - second motor; 17 - connecting plate; 18 - motor slide rail; 19 - movable electromagnetic coil; 20 - soft robot; 21 - syringe pump. Detailed Embodiments

[0047] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0048] The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a", "the", and "said" used in the present invention and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to a determination".

[0050] The present invention will be described in detail below with reference to the accompanying drawings. Without conflict, the features in the following embodiments and implementation manners may be combined with each other.

[0051] As Figure 1 shown, the present invention provides an adaptive knee treatment magnetic control system, including:

[0052] A host computer 1, configured to obtain the optimal electromagnetic coil spatial distribution according to the knee joint size and shape data, and convert it into the motor movement amount.

[0053] An electromagnetic coil adaptive adjustment module, which obtains the motor movement amount sent by the host computer 1 and drives the motor to move the electromagnet to the optimal electromagnetic coil spatial distribution position.

[0054] An electromagnetic coil module, which obtains the enable signal sent by the host computer, and supplies current to each electromagnetic coil through the programmable current source module 22 to generate a coupled spatial magnetic field.

[0055] A soft robot, which moves in the knee joint cavity based on the coupled spatial magnetic field generated by the electromagnetic coil module.

[0056] As Figure 5As shown, the host computer 1 obtains the optimal spatial distribution of electromagnetic coils based on the knee joint size and shape data, and converts it into motor motion amounts, including:

[0057] The host computer 1 acquires the knee joint size and shape data of the patient. Through the particle swarm optimization algorithm, taking the minimum singular value of the coil magnetic field control matrix as the optimization objective, the optimal spatial distribution of the electromagnetic coils is obtained. The calculated optimal spatial distribution of the electromagnetic coils is converted into the motion amount of the motor and sent to the electromagnetic coil adaptive adjustment module.

[0058] Furthermore, the host computer 1 acquires the knee joint size of the patient and the bending shape during the operation. However, the knee joint size and bending angle of the patient limit the distance and spatial attitude between the movable electromagnetic coils 19. The distance and spatial attitude between the movable electromagnetic coils 19 are used as boundary conditions and brought into the particle swarm optimization algorithm. The expression is as follows:

[0059] θ i ∈[θ i,min ,θ i,max ,

[0060] ψ i ∈[ψ i,min ,ψ i,max

[0061] λ i ∈[λ i,min ,λ i,max

[0062] Among them, i is the number of the electromagnetic coil, θ i , ψ i , λ i are respectively the nutation angle, precession angle and self-feed of each electromagnetic coil. In addition, assume that the pose of the immovable electromagnetic coil 13 is fixed, that is, θ 5 = 0.5π, ψ 5 = 0, λ 5 = 0.15. Then the pose of each electromagnetic coil can be expressed as (λ i sinθ i cosψ i , λ i sinθ i sinψ i , λ i sinθ i , 0, θ i , ψ i ), i = 1, 2,..., 5. (λ i sinθ i cosψ i , λ i sinθ i sinψ i ​​, λ i sinθ i ), which are the central position coordinates of the movable electromagnetic coil and the immovable electromagnetic coil 13, (0, θ i , vi ) are the spatial postures of the four movable electromagnetic coils and one immovable electromagnetic coil 13.

[0063] Taking the coordinate origin and 26 points in its vicinity as the optimization points, and assuming the coordinates of a certain optimization point are (x op , y op , z op ), the coordinates (x i,l , y i,l , z i,l ) of the target point in the local coordinate system of the electromagnetic coil can be obtained:

[0064] (x i,l , y i,l , z i,l ) = (x op - λ i sinθ i cosψ i , y op - λ i sinθ i sinψ i , z op - λ i sinθ i ) · TR i (0, θ i , ψ i ),

[0065] Finally, the magnetic field intensity matrix of a single electromagnetic coil at the target point can be obtained:

[0066] B i = f coil (x i,l , y i,l , z i,l ) · TR i -1 (0, θ i , ψ i )

[0067] where f coil is the mathematical model of the electromagnetic coil, and TR i (0, θ i , ψ i ) is the coordinate transformation matrix, i = 1, 2, ……, 5; the expression of the coordinate transformation matrix TR i (0, θ i , ψ i ) is as follows:

[0068]

[0069] Finally, the magnetic field intensity control matrix A can be obtained. 3×5 , and its singular value decomposition gives (σ 1 , σ 2 , σ 3 ). Repeated calculations are performed on 27 optimization points to obtain the singular values σ 3 of the magnetic field intensity control matrix at each point. The smallest σ 3 value among the 27 points is taken as σ 3min . Taking the smallest singular value σ 3min of the magnetic field control matrix obtained from the coil model under each distribution as the optimization objective, and taking the poses of the four movable coils as variables, the spatial distribution of the electromagnetic coils when its σ 3min is the largest is obtained through the particle swarm optimization algorithm, and it is used as the optimal electromagnetic coil layout.

[0070] The electromagnetic coil adaptive adjustment module is implemented based on the electromagnetic coil device. The electromagnetic coil driving device includes: a frame 4. Vertically, a first guide post 9 is installed at the central position of the upper part of the frame 4, and a second guide post 10 is installed at the central position of the lower part. Four movable electromagnetic coil assemblies are evenly distributed in a circle between the first guide post 9 and the second guide post 10.

[0071] In this example, taking one group as an example, the specific structure of the movable electromagnetic coil assembly is described in detail.

[0072] Specifically, as Figure 2 shown, the movable electromagnetic coil assembly includes:

[0073] A first motor 8, the output shaft of the first motor 8 is connected to a second gear 7, and the second gear 7 meshes with a first gear 6 to convert the rotation amount of the first gear 6 into the precession angle change of the movable electromagnetic coil.

[0074] An upper L-shaped connecting rod 11 installed on the first guide post 9;

[0075] A lower L-shaped connecting rod 12 installed on the second guide post 10;

[0076] A gear slide rail 14 installed between the upper L-shaped connecting rod 11 and the lower L-shaped connecting rod 12;

[0077] A second motor 16, the output shaft of the second motor 16 is connected to a third gear 15, and the third gear 15 meshes with the outer ring gear on the gear slide rail 14 to convert the rotation amount of the outer ring gear on the gear slide rail 14 into the nutation angle change of the movable electromagnetic coil;

[0078] The motor slide rail 18 is connected to the movable electromagnetic coil 19 to control the change in the feed amount of the movable electromagnetic coil 19.

[0079] It should be noted that as Figure 4 shown, the frame 4 is connected to the first gear 6 through 4 support columns 5 evenly distributed in a circle. The first gear 6 meshes with four second gears 7 respectively, and the four second gears 7 are respectively connected to the output shafts of four first motors 8 through keys.

[0080] Furthermore, since there are four movable electromagnetic coil assemblies evenly distributed in a circle between the first guide post 9 and the second guide post 10, four upper L-shaped connecting rods 11 (the first upper L-shaped connecting rod, the second upper L-shaped connecting rod, the third upper L-shaped connecting rod, the fourth upper L-shaped connecting rod) are installed on the first guide post 9, and four lower L-shaped connecting rods 12 (the first lower L-shaped connecting rod, the second lower L-shaped connecting rod, the third lower L-shaped connecting rod, the fourth lower L-shaped connecting rod) are installed on the second guide post 10. Among them, the four upper L-shaped connecting rods 11 and the four lower L-shaped connecting rods 12 are arranged in one-to-one correspondence.

[0081] Furthermore, the second motor 16 is installed on the connecting plate 17 through a motor bracket. A motor slide rail 18 is installed on the connecting plate 17, and the motor slide rail 18 is connected to the movable electromagnetic coil 19. Furthermore, as Figure 3 shown, several rolling bearings are also installed between the connecting plate 17 and the gear slide rail 14 to ensure the smooth rotation of the gear slide rail 14.

[0082] After the electromagnetic coil system completes the adaptive adjustment, the host computer 1 sends a control signal to the programmable power supply module 22. The programmable power supply module 22 converts the control signal into a corresponding current and passes it into each electromagnetic coil, finally generating a coupled spatial magnetic field to control the movement of the soft robot 20. An injection pump 21 is also installed on the soft robot 20. When the soft robot 20 moves to the designated position, the injection pump 21 injects the therapeutic drug through the soft robot 20 to complete the treatment.

[0083] Embodiment 1

[0084] As a specific embodiment of the present invention, as Figure 5 shown, first, according to the patient's MRI image and the surgical requirements, the boundary conditions for the attitude optimization of the movable electromagnetic coil are determined. Here, the settings are:

[0085] θ 1 ∈[0.125π, 0.375π], θ 2 ∈[0.625π, 0.875π], θ 3 ∈[1.125π, 1.375π],

[0086] θ4 ∈[1.625π, 1.875π], ψ 1,,, ∈[-0.25π, 0.25π], λ 1,,, ∈[0.15, 0.18. Input the boundary conditions into the particle swarm optimization algorithm. Take the origin of coordinates and 26 points evenly distributed on the spherical surface with the origin as the center of the sphere and a radius of 5 mm as the optimization points, and finally obtain the optimization results θ 1 、θ 2 、θ 3 、θ 4 are 0.26π, 0.74π, 1.26π, 1.74π respectively, ψ 1,,, = 0.09π, λ 1,,, = 0.15, σ 3min = 1.88×10 -46 . The host computer 1 converts the spatial distribution of the electromagnetic coils into the rotation amount of the stepper motor, transmits it to the single-chip microcomputer 2, and then the single-chip microcomputer converts it into a pulse signal and transmits it to the motor driver 3. The motor driver 3 finally controls the rotation of each group of motors to adjust the four movable coils to the specified posture and obtain the best soft robot control ability.

[0087] After considering the specification and the content disclosed herein, those skilled in the art will readily think of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary.

[0088] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. An adaptive magnetic control system for a knee joint treatment soft robot, characterized in that, it includes: A host computer, which is used to obtain the optimal spatial distribution of electromagnetic coils according to the knee joint size and shape data, and convert it into motor movement amounts; An electromagnetic coil adaptive adjustment module, which obtains the motor movement amounts sent by the host computer and drives the motor to move the electromagnetic coils to the optimal spatial distribution positions of the electromagnetic coils; An electromagnetic coil module, which obtains the enabling signals sent by the host computer, supplies current to each electromagnetic coil, and generates a coupled spatial magnetic field; A soft robot, which moves in the knee joint cavity based on the coupled spatial magnetic field generated by the electromagnetic coil module; Among them, the host computer obtains the optimal spatial distribution of electromagnetic coils according to the knee joint size and shape data, and converts it into motor movement amounts, including: The host computer obtains the knee joint size and shape data of the patient, takes the minimum singular value of the coil magnetic field control matrix as the optimization target through the particle swarm optimization algorithm, and obtains the optimal spatial distribution of electromagnetic coils; converts the calculated optimal spatial distribution of electromagnetic coils into motor movement amounts, and sends them to the electromagnetic coil adaptive adjustment module; Among them, the host computer obtains the optimal spatial distribution of electromagnetic coils according to the knee joint size and shape data, including: Set the pose of the immovable electromagnetic coil fixed, and take the central position coordinates and spatial attitude of the movable electromagnetic coil as boundary conditions and bring them into the particle swarm optimization algorithm; The pose of the electromagnetic coil can be expressed as (λ i sinθ i cosψ i , λ i sinθ i sinψ i , λ i sinθ i , 0, θ i , ψ i ), where i = 1, 2, ……, 5; the numbers of the movable electromagnetic coils are i = 1 to 4, and the number of the immovable electromagnetic coil is i = 5; (λ i sinθ i cosψ i , λ i sinθ i sinψ i , λ i sinθ i ) is the central position coordinate of the electromagnetic coil, (0, θ i , ψ i ) is the spatial attitude of the electromagnetic coil; θ i , ψ i , λ i are the nutation angle, precession angle and self-feed of each electromagnetic coil respectively; Taking the origin of coordinates and n points in its nearby area as the optimization points, and assuming the coordinates of a certain optimization point are (x op , y op , z op ), the coordinates (x i,l , y i,l , z i,l ) of the target point in the local coordinate system of the electromagnetic coil can be obtained, and the expression is as follows: (x i,l ,y i,l ,z i,l ) = (x op - λ i sinθ i cosψ i ,y op - λ i sinθ i sinψ i ,z op - λ i sinθ i ) ·TR i (0, θ i , ψ i ), Calculate the magnetic field intensity matrix of a single electromagnetic coil at the target point: B i = f coil (x i,l , y i,l , z i,l ) · TR i -1 (0, θ i , ψ i ) Among them, f coii is the mathematical model of the electromagnetic coil, and TR i (0, θ i , ψ i ) is the coordinate transformation matrix; Obtain the magnetic field intensity control matrix A 3×5 , performing singular value decomposition on it gives (σ 1 , σ 2 , σ 3 ); Repeatedly calculate each optimization point to obtain the singular value σ of the magnetic field intensity control matrix corresponding to all optimization points 3 ; Denote σ 3min as the minimum value among all singular values σ 3 . Taking the minimum singular value σ 3min as the optimization objective and regarding the pose of the movable electromagnetic coil as a variable, the optimal spatial distribution of the electromagnetic coil is obtained by the particle swarm optimization algorithm.

2. The adaptive magnetic control system for a knee joint treatment soft robot according to claim 1, characterized in that, The electromagnetic coil adaptive adjustment module is implemented based on an electromagnetic coil device, and the electromagnetic coil device includes: a frame (4), a first guide post (9) is arranged at the upper central position of the frame (4), and an immovable electromagnetic coil (13) is installed on the first guide post (9); a second guide post (10) is arranged at the lower central position of the frame (4); four movable electromagnetic coils (19) are evenly distributed in a circle between the first guide post (9) and the second guide post (10).

3. The adaptive magnetic control system for a knee joint treatment soft robot according to claim 2, characterized in that, The movable electromagnetic coil (19) includes: A first motor (8), the output shaft of the first motor (8) is connected to a second gear (7), the second gear (7) meshes with a first gear (6), and converts the rotation amount transformation of the first gear (6) into the precession angle change of the movable electromagnetic coil (19); An upper L-shaped connecting rod (11) installed on the first guide post (9); A lower L-shaped connecting rod (12) installed on the second guide post (10); A gear slide rail (14) installed between the upper L-shaped connecting rod (11) and the lower L-shaped connecting rod (12); A second motor (16), the output shaft of the second motor (16) is connected to a third gear (15), the third gear (15) meshes with the outer ring gear on the gear slide rail (14), and converts the rotation amount transformation of the outer ring gear on the gear slide rail (14) into the nutation angle change of the movable electromagnetic coil (19); The motor slide rail (18), the motor slide rail (18) is connected to the movable electromagnetic coil (19), and controls the change of the self-feed amount of the movable electromagnetic coil (19).

4. The magnetically controlled system of the adaptive knee joint treatment soft robot according to claim 3, characterized in that, The first gear (6) is connected to the frame (4) through four support columns (5) evenly distributed in a circle.

5. The magnetically controlled system of the adaptive knee joint treatment soft robot according to claim 3, characterized in that, The second motor (16) is installed on the connecting plate (17) through a motor bracket, and a motor slide rail (18) is installed on the connecting plate (17).

6. The magnetically controlled system of the adaptive knee joint treatment soft robot according to claim 5, characterized in that, A number of rolling bearings are also installed between the connecting plate (17) and the gear slide rail (14).

7. The magnetically controlled system of the adaptive knee joint treatment soft robot according to claim 1, characterized in that, The electromagnetic coil module specifically includes: Transmitting the enable signal sent by the upper computer to the programmable power supply module (22), and the programmable power supply module (22) converts the enable signal into a corresponding current and passes it into each electromagnetic coil to generate a coupled space magnetic field to control the movement of the soft robot (20).

8. The magnetically controlled system of the adaptive knee joint treatment soft robot according to claim 1, characterized in that, An injection pump (21) is also installed on the soft robot (20).

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