Liquid environmental micro-robotic device and targeted delivery method

Abstract

A microrobot device and targeted transport method for liquid environments are disclosed. This invention relates to the field of micromanipulation control. It includes paired coils in the X, Y, and Z directions, a camera clamp, a microscope camera, a camera base, a camera support, a vibration isolation table, a Y-direction coil clamp, a crossbeam, an X-direction coil clamp, an operation box, a Z-direction coil clamp, a support platform, a support frame, a four-jaw clamp, a neodymium iron boron coating, a flexible shell, a magnetic ring, flexible flagella, micro-components, and positioning holes. An external current excites the coil group to generate an oscillating magnetic field, a gradient magnetic field, and a uniform magnetic field. The oscillating magnetic field provides torque to the microrobot, driving it to oscillate forward while carrying the micro-components. In the gradient magnetic field, the four-jaw clamp separates from the flexible shell, releasing the micro-components. After the four-jaw clamp degrades, the micro-components are released to the target position. Finally, under the action of the uniform magnetic field, the microrobot floats to the surface and is recovered. This invention is used for efficient, controllable, and integrated transport and release of micro-components.

Description

Technical Field

[0001] This invention relates to the field of micromanipulation control, specifically to a microrobot device for liquid environments and a method for targeted transport. Background Technology

[0002] With the rapid development of micro-nano technology and the urgent needs in the field of micro-assembly, microrobot technology has developed rapidly, showing broad application prospects in fields such as bioengineering, environmental monitoring, micro-assembly, and minimally invasive medicine. It can achieve functions such as targeted therapy of cancer cells, ecological environment monitoring, and micro-device transfer. Microrobots in liquid environments have various driving methods, such as magnetic field driving, electric field driving, chemical driving, and self-driving. Electric field driving uses the electrostatic force and electroosmosis of a low-frequency electric field to drive the microrobot, achieving high motion accuracy, but it is easily affected by surrounding conductors. Chemical driving utilizes the chemical substances carried by the microrobot to react with the surrounding liquid environment, generating propulsion for the microrobot's movement. However, many chemicals are toxic, and the movement trajectory is difficult to control, limiting its application. Magnetic driving uses the magnetic materials in the microrobot to respond to an external magnetic field, being driven by force and torque. Compared with other driving methods, magnetic fields have advantages such as good penetration, ease of control, and low biological hazard. However, the stable and reliable transportation of goods by microrobots in liquid environments and the flexible and precise release of goods are currently pressing problems to be solved. Therefore, developing a microrobot operating device that can stably transport and precisely release goods has significant theoretical and practical application value. This invention proposes a method for targeted transport using a microrobot device in a liquid environment. The method achieves targeted transport of goods by generating magnetic torque through an oscillating magnetic field and targeted release of goods by generating gradient magnetic force through a gradient magnetic field, thereby achieving efficient, controllable and integrated transport and release of micro-components. Summary of the Invention

[0003] This invention addresses the critical challenge of accurately releasing cargo when microrobots are transporting goods in liquid environments. It proposes a method for targeted transport of micro-components using a microrobot device in a liquid environment. By leveraging the magnetic force and torque of a magnetic material through a magnetic field, the transport and precise release of micro-components are achieved, thus realizing efficient, controllable, and integrated targeted transport and release of micro-components.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: The microrobot device includes a magnetic field generating module and a microrobot body module. The magnetic field generating module includes paired coils in the X direction, paired coils in the Y direction, paired coils in the Z direction, a camera fixture, a microscope camera, a camera base, a camera bracket, a vibration isolation table, a Y-direction coil fixture, a crossbeam, an X-direction coil fixture, an operation box, a Z-direction coil fixture, a support platform, and a support frame. The microrobot body module includes a four-jaw clamp, a neodymium iron boron coating, a flexible shell, a magnetic ring, flexible flagella, micro-components, and positioning holes. The two ends of the X-direction coil fixture are bolted to the crossbeam, and the middle is bolted to the support frame and the paired coils in the X direction. One end of the Y-direction coil clamp is bolted to a pair of Y-direction coils, and the other end is bolted to a crossbeam. One end of the Z-direction coil clamp is bolted to a pair of Z-direction coils, and the other end is screwed to a support frame. The camera clamp is screwed to the camera base to clamp and fix the microscope camera. The bottom of the camera bracket is screwed to the vibration isolation table, and the top is screwed to the camera base. The bottom of the support table is screwed to the vibration isolation table, and the top is where the operation box is placed. The magnetic ring is fitted and connected to the flexible shell. The four-jaw clamp and the flexible shell are connected and fixed by the attraction force generated between the magnetic ring with the same magnetic pole direction and the neodymium iron boron coating. The flexible shell and the flexible flagella are connected by toughened instant adhesive.

[0005] The method for targeted delivery of micro-components includes the following steps:

[0006] Step 1: Input the paired coils in the X direction and the paired coils in the Z direction respectively. I m |cos(2πft)| alternating current and - I m cos(2πft) The cosine current generates a periodic oscillating magnetic field on the XZ plane of the control box;

[0007] Step 2: The axially magnetized magnetic ring oscillates in the direction of the periodic oscillating magnetic field, causing the flexible flagella to oscillate periodically in the radial direction. It interacts with the liquid to generate propulsion force, driving the microrobot to carry the micro-component oscillating forward, which can realize the transportation of the micro-component from the starting position to the target position.

[0008] Step 3: After reaching the target position, disconnect the current in the paired coils in the X direction and the paired coils in the Z direction, and pass an equal and opposite DC current in the paired coils in the Y direction. This will generate a gradient magnetic field distributed along the Y axis in the operating box.

[0009] Step 4: Under the action of the gradient magnetic field, the magnetic ring and the NdFeB coating are subjected to magnetic forces in opposite directions, which can overcome the attraction between the magnetic ring and the NdFeB coating, causing the four-jaw clamp to separate from the flexible shell, changing from the state of carrying micro-components to the state of releasing micro-components, and realizing the initial release of micro-components.

[0010] Step 5: Adjust the magnitude of the DC current in the paired coils in the Y direction so that the magnetic force on the magnetic ring and the NdFeB coating is equal to the attraction between the separated magnetic ring and the NdFeB coating, ensuring that the micro-component is stationary at the target position. The four-jaw clamp formed by the biodegradable hydrogel 3D printing completes the degradation, and the micro-component is accurately released to the target position.

[0011] Step Six: Pass equal and same DC currents into the paired coils in the Z direction. The operating box generates a uniform magnetic field in the Z-axis direction, causing the NdFeB coating, flexible shell, magnetic ring, and flexible flagella to float to the surface, thus completing the recovery.

[0012] The beneficial effects of this invention are as follows: 1. The method for targeted transport using a microrobot device in a liquid environment, as described in this invention, connects and fixes the four-jaw gripper and the flexible shell through the attractive force generated between the magnetic ring with the same magnetic pole direction and the NdFeB coating, enabling the microrobot to carry micro-components. 2. The method for targeted transport using a microrobot device in a liquid environment, as described in this invention, controls the three-dimensional transport of micro-components in a liquid environment by using an oscillating magnetic field, gradient magnetic field, and uniform magnetic field generated by a current-excited magnetic field generation module. 3. The method for targeted transport using a microrobot device in a liquid environment, as described in this invention, overcomes the attractive force between the magnetic ring and the NdFeB coating by using opposite magnetic force in the gradient magnetic field, causing the four-jaw gripper to separate from the flexible shell, thus achieving targeted control of the release process. 4. The method for targeted transport using a microrobot device in a liquid environment, as described in this invention, organically combines the process of transporting and releasing micro-components, thereby achieving efficient, controllable, and integrated transport and release of micro-components. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the microrobot operating device.

[0014] Figure 2 This is a schematic diagram of the microrobot body module structure.

[0015] Figure 3 This is a schematic diagram of the process of a microrobot transporting micro-components.

[0016] Figure 4 This is a schematic diagram of the micro-component release process. Detailed Implementation

[0017] Specific implementation method one: Combining Figure 1 and Figure 2 The microrobot device comprises a magnetic field generating module and a microrobot body module. The magnetic field generating module includes X-direction paired coils 1-1, Y-direction paired coils 1-2, Z-direction paired coils 1-3, a camera fixture 1-4, a microscope camera 1-5, a camera base 1-6, a camera bracket 1-7, a vibration isolation table 1-8, a Y-direction coil fixture 1-9, a crossbeam 1-10, an X-direction coil fixture 1-11, an operation box 1-12, a Z-direction coil fixture 1-13, a support platform 1-14, and a support frame 1-15. The microrobot module includes a four-jaw gripper 2-1, a neodymium iron boron plating layer 2-2, a flexible shell 2-3, a magnetic ring 2-4, flexible flagella 2-5, micro-components 2-6, and positioning holes 2-7. The X-direction coil fixture 1-11 is bolted to the crossbeam 1-10 at both ends and bolted to the support frame 1-15 and the X-direction paired coils 1-1 in the middle. One end of the Y-direction coil clamp 1-9 is bolted to the Y-direction paired coil 1-2, and the other end is bolted to the crossbeam 1-10. One end of the Z-direction coil clamp 1-13 is bolted to the Z-direction paired coil 1-3, and the other end is screwed to the support frame 1-15. The camera clamp 1-4 is screwed to the camera base 1-6 to clamp and fix the microscope camera 1-5. The bottom of the camera bracket 1-7 is screwed to the vibration isolation table 1-8, and the top is screwed to the camera base 1-6. The bottom of the support platform 1-14 is screwed to the vibration isolation table 1-8, and the top is placed on the operation box 1-12. The magnetic ring 2-4 is fitted and connected to the flexible shell 2-3. The four-jaw clamp 2-1 and the flexible shell 2-3 are connected and fixed by the attraction force generated between the magnetic ring 2-4 with the same magnetic pole direction and the neodymium iron boron coating 2-2. The flexible shell 2-3 and the flexible flagellum 2-5 are connected by toughened instant adhesive.

[0018] Specific Implementation Method Two: Combining Figure 1 The X-direction paired coil 1-1, the Y-direction paired coil 1-2, and the Z-direction paired coil 1-3 are three sets of mutually orthogonal coil pairs. Each set of coils is coaxially arranged, and the axes of the three sets of coil pairs intersect at a single point. This arrangement allows the magnetic field generating module to produce the required uniform magnetic field at the center of the coil sets after current is applied. Other components and connections are the same as in Specific Implementation Method 1.

[0019] Specific implementation method three: Combining Figure 1 The operation box 1-12 serves as the movement space for the microrobot, and is filled with liquid (such as glycerin, silicone oil, water, etc.). The center of the operation box 1-12 coincides with the center of the axis of the paired coil 1-1 in the X direction. This arrangement places the operation box 1-12 in a uniform magnetic field, allowing the microrobot to be subjected to magnetic force and torque. Other components and connections are the same as in specific embodiments one or two.

[0020] Specific implementation method four: Combination Figure 2 and Figure 3 The neodymium iron boron coating 2-2 is fabricated using physical vapor deposition (PVD). The flexible shell 2-3 and flexible flagella 2-5 are formed by photopolymerization and 3D printing of flexible resin material. The four-jaw gripper 2-1 is formed by 3D printing of biodegradable hydrogel. The flexible resin material can bend and deform during the microrobot's movement, interacting with the fluid to generate propulsion. After complete degradation, the biodegradable hydrogel can ultimately release the micro-component 2-6 to the target location 3-1. Other components and connections are the same as in specific embodiments one, two, or three.

[0021] Specific Implementation Method Five: Combining Figure 1 Note that the X-direction coil clamp 1-11, Y-direction coil clamp 1-9, Z-direction coil clamp 1-13 and crossbeam 1-10 each contain 4 identical individual components, and the other components and connection relationships are the same as those in specific embodiments one, two, three or four.

[0022] Specific Implementation Method Six: Combination Figure 1 and Figure 2 It is noted that the NdFeB plating layer 2-2 has a thickness of 0.2 mm, the magnetic ring 2-4 has an outer diameter of 2 mm, an inner diameter of 1.5 mm, and a height of 0.2 mm, and both are magnetized along the axial direction. This arrangement allows the magnetic ring 2-4 and the NdFeB plating layer 2-2 to generate an attractive force, connecting and fixing the four-jaw gripper 2-1 and the flexible shell 2-3, enabling the microrobot to carry the micro-component 2-6. Other components and connection relationships are the same as in specific embodiments one, two, three, four, or five.

[0023] Specific implementation method seven: Combining Figure 1 , Figure 2 , Figure 3 and Figure 4 The method for targeted transport of micro-components using the microrobot device described in any one of the specific embodiments one, two, three, four, five, or six includes the following steps:

[0024] Step 1: Input the inputs to the paired coils 1-1 in the X direction and 1-3 in the Z direction respectively. I m |cos(2πft)| alternating current and - I m cos(2πft) The cosine current generates a periodic oscillating magnetic field 3-2 on the XZ plane of the operating box 1-12;

[0025] Step 2: The axially magnetized magnetic ring 2-4 oscillates in the periodic oscillating magnetic field 3-2, causing the flexible flagellum 2-5 to oscillate periodically in the radial direction and interact with the liquid to generate propulsion force, driving the microrobot to carry the micro-component 2-6 oscillating forward, which can realize the transportation of the micro-component 2-6 from the starting position 3-3 to the target position 3-1;

[0026] Step 3: After reaching the target position 3-1, disconnect the current in the X-direction paired coil 1-1 and the Z-direction paired coil 1-3, and pass an equal and opposite DC current through the Y-direction paired coil 1-2, which will generate a gradient magnetic field 4-2 distributed along the Y-axis in the operation box 1-12.

[0027] Step 4: Under the action of gradient magnetic field 4-2, the magnetic ring 2-4 and the neodymium iron boron coating 2-2 are subjected to magnetic forces in opposite directions, which can overcome the attraction between the magnetic ring 2-4 and the neodymium iron boron coating 2-2, causing the four-jaw clamp 2-1 to separate from the flexible shell 2-3, changing from the micro-component carrying state 4-3 to the micro-component releasing state 4-1, realizing the initial release of micro-component 2-6;

[0028] Step 5: Adjust the magnitude of the DC current in the paired coils 1-2 in the Y direction so that the magnetic force on the magnetic ring 2-4 and the NdFeB coating 2-2 is equal to the attraction force between the separated magnetic ring 2-4 and the NdFeB coating 2-2, ensuring that the micro-component 2-6 is stationary at the target position 3-1. The four-jaw clamp 2-1 formed by the biodegradable hydrogel 3D printing completes the degradation, and the micro-component 2-6 is precisely released to the target position 3-1.

[0029] Step 6: Pass equal and same DC currents into the paired coils 1-3 in the Z direction. The operation box 1-12 generates a uniform magnetic field in the Z-axis direction, causing the neodymium iron boron coating 2-2, the flexible shell 2-3, the magnetic ring 2-4, and the flexible flagella 2-5 to float to the surface of the water, thus completing the recovery.

[0030] Based on the method for targeted transport using a microrobot device in a liquid environment as described in embodiments one to six, efficient, controllable, and integrated transportation and release of micro-components can be achieved.

Claims

1. A method for targeted transport using a microrobot device in a liquid environment, characterized in that: The microrobot device includes a magnetic field generating module and a microrobot body module. The magnetic field generating module includes X-direction paired coils (1-1), Y-direction paired coils (1-2), Z-direction paired coils (1-3), a camera fixture (1-4), a microscope camera (1-5), a camera base (1-6), a camera bracket (1-7), a vibration isolation table (1-8), a Y-direction coil fixture (1-9), a crossbeam (1-10), an X-direction coil fixture (1-11), an operation box (1-12), and a Z-direction... The microrobot body module includes a coil clamp (1-13), a support platform (1-14), and a support frame (1-15). It comprises a four-jaw clamp (2-1), a neodymium iron boron coating (2-2), a flexible shell (2-3), a magnetic ring (2-4), flexible flagella (2-5), micro-components (2-6), and positioning holes (2-7). The X-direction coil clamp (1-11) is bolted to the crossbeam (1-10) at both ends and bolted to the support frame (1-15) and the paired X-direction coils (1-1) in the middle. One end of the Y-direction coil clamp (1-9) is bolted to the paired Y-direction coil (1-2), and the other end is bolted to the crossbeam (1-10). One end of the Z-direction coil clamp (1-13) is bolted to the paired Z-direction coil (1-3), and the other end is screwed to the support frame (1-15). The camera clamp (1-4) is screwed to the camera base (1-6) to clamp and fix the microscope camera (1-5). The bottom of the camera bracket (1-7) is screwed to the vibration isolation table (1-8), and the top... The part is connected to the camera base (1-6) by screws. The bottom of the support platform (1-14) is connected to the vibration isolation platform (1-8) by screws. The operation box (1-12) is placed on the top. The magnetic ring (2-4) is connected to the flexible shell (2-3) in a set. The four-jaw clamp (2-1) and the flexible shell (2-3) are connected and fixed by the attraction force generated between the magnetic ring (2-4) with the same magnetic pole direction and the neodymium iron boron coating (2-2). The flexible shell (2-3) and the flexible flagellum (2-5) are connected by toughened instant adhesive. The targeted delivery method mainly includes the following steps: Step 1: Input the inputs to the paired coils (1-1) in the X direction and the paired coils (1-3) in the Z direction respectively. I m |cos(2πft)| alternating current and - I m cos(2πft) The cosine current generates a periodic oscillating magnetic field (3-2) on the XZ plane of the operating box (1-12). Step 2: The axially magnetized magnetic ring (2-4) oscillates in the direction of the periodic oscillating magnetic field (3-2), causing the flexible flagellum (2-5) to oscillate periodically in the radial direction and interact with the liquid to generate propulsion force, driving the microrobot to carry the micro-component (2-6) oscillating forward, which can realize the transportation of the micro-component (2-6) from the starting position (3-3) to the target position (3-1); Step 3: After reaching the target position (3-1), disconnect the current in the X-direction paired coil (1-1) and the Z-direction paired coil (1-3), and pass in equal and opposite DC currents in the Y-direction paired coil (1-2), which will generate a gradient magnetic field (4-2) distributed along the Y-axis in the operation box (1-12). Step 4: Under the action of the gradient magnetic field (4-2), the magnetic ring (2-4) and the neodymium iron boron coating (2-2) are subjected to magnetic forces in opposite directions, which can overcome the attraction between the magnetic ring (2-4) and the neodymium iron boron coating (2-2), causing the four-jaw clamp (2-1) to separate from the flexible shell (2-3), changing from the state of carrying micro-components (4-3) to the state of releasing micro-components (4-1), and realizing the initial release of micro-components (2-6); Step 5: Adjust the magnitude of the DC current in the paired coils (1-2) in the Y direction so that the magnetic force in opposite directions on the magnetic ring (2-4) and the NdFeB coating (2-2) is equal to the attraction force between the separated magnetic ring (2-4) and the NdFeB coating (2-2), ensuring that the micro-component (2-6) is stationary at the target position (3-1). The four-jaw clamp (2-1) formed by the biodegradable hydrogel 3D printing completes the degradation, and the micro-component (2-6) is precisely released to the target position (3-1). Step 6: Pass equal and same DC currents into the paired coils (1-3) in the Z direction. The operation box (1-12) generates a uniform magnetic field in the Z-axis direction, causing the neodymium iron boron coating (2-2), flexible shell (2-3), magnetic ring (2-4), and flexible flagella (2-5) to float to the surface of the water, thus completing the recovery.

2. The method for targeted transport using a microrobot device in a liquid environment according to claim 1, characterized in that: The X-direction paired coil (1-1), Y-direction paired coil (1-2), and Z-direction paired coil (1-3) are three sets of mutually orthogonal coil pairs. Each set of coils is coaxial, and the axes of the three sets of coil pairs intersect at one point.

3. A method for targeted transport using a microrobot device in a liquid environment according to claim 1 or 2, characterized in that: The operation box (1-12) is the movement space of the microrobot, and is filled with liquid. The center of the operation box (1-12) coincides with the center of the axis of the paired coil (1-1) in the X direction.

4. A method for targeted transport using a microrobot device in a liquid environment according to claim 1 or 2, characterized in that: The neodymium iron boron coating (2-2) is processed by physical vapor deposition technology, the flexible shell (2-3) and flexible flagella (2-5) are formed by photopolymerization 3D printing of flexible resin material, and the four-jaw clamp (2-1) is formed by biodegradable hydrogel 3D printing.

5. A method for targeted transport using a microrobot device in a liquid environment according to claim 1 or 2, characterized in that: The X-direction coil clamp (1-11), Y-direction coil clamp (1-9), Z-direction coil clamp (1-13), and crossbeam (1-10) each contain four identical individual components.

6. A method for targeted transport using a microrobot device in a liquid environment according to claim 1 or 2, characterized in that: The neodymium iron boron coating (2-2) has a thickness of 0.2 mm, and the magnetic ring (2-4) has an outer diameter of 2 mm, an inner diameter of 1.5 mm, and a height of 0.2 mm. Both are magnetized along the axial direction.

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