Magnetic energy soft robot, manufacturing method and application

Abstract

The application relates to the technical field of soft robots, in particular to a magnetic energy soft robot, a manufacturing method and application; a base plate, the upper end of the base plate is fixedly connected with a first magnetic energy storage block and a second magnetic energy storage block, the first magnetic energy storage block and the second magnetic energy storage block are of the same magnetism, one end of the base plate is provided with a bonding point one, the other end of the base plate is provided with a bonding point two, the bonding point one is matched with the bonding point two, and the base plate can be folded and bent; the bonding point one and the bonding point two are bonded together through bonding material; the bonding material can fail under the condition of expected temperature or water, and the bonding between the bonding point one and the bonding point two is released.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, specifically to a magnetic soft robot, its manufacturing method, and its application. Background Technology

[0002] Magnetic soft robots hold significant promise for biomedical applications such as targeted drug delivery and thrombosis treatment due to their advantages, including remote control capabilities, the ability to use magnetic fields that penetrate the human body without causing harm, and easily adjustable movement. First, magnetic soft robots can be made extremely small and achieve remote movement and deformation via non-contact external magnetic fields, allowing them to operate within various confined areas of the human body. Second, human tissues and organs are transparent to magnetic fields; under a wide range of magnetic field strengths and frequencies, remotely applied magnetic fields have no adverse effects on biological systems. This enables not only the control of soft robots but also the use of the magnetothermal response characteristics of soft magnetic particles for actions such as remote wound heating. Finally, because magnetic particles are highly sensitive to changes in magnetic fields, and magnetic fields are relatively easy to control, the movement behavior of soft robots is easily adjustable. This provides a safe and effective solution for controlling robots within the confined space of the human body.

[0003] Controlling magnetic soft robots in real-world environments presents a significant challenge. Firstly, the complexity of the external environment makes it difficult to build a reliable control system for controlling the robot's movement and deformation. Constructing a mechanical control structure requires analyzing the characteristics of the current environment to design a suitable external mechanical drive structure, which demands substantial time and financial resources, hindering widespread adoption. Secondly, relying solely on handheld magnets for actuation not only leads to inconsistent robot movement and deformation due to the instability of the handheld mechanism but also makes handheld control unpredictable and unadjustable in scenarios where visibility is limited. Furthermore, magnetic soft robots only respond to artificially created magnetic fields, lacking a clear response to external changes. When encountering situations requiring spontaneous responses to environmental changes, conventional magnetic soft robots cannot meet this requirement, undoubtedly limiting their application scenarios. Therefore, we propose a magnetic energy soft robot, its fabrication method, and its applications. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a magnetic energy soft robot, its manufacturing method, and its applications.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A magnetic energy soft robot includes: a substrate, a first magnetic energy storage block and a second magnetic energy storage block are fixedly connected to the upper end of the substrate, the first magnetic energy storage block and the second magnetic energy storage block have the same magnetism, one end of the substrate is provided with an adhesive point one, the other end of the substrate is provided with an adhesive point two, the adhesive point one and the adhesive point two are adapted to each other, and the substrate can be folded and bent.

[0007] The first bonding point and the second bonding point are bonded together by adhesive material;

[0008] The adhesive material is capable of failing at the expected temperature or when exposed to water, thus releasing the bond between adhesive point one and adhesive point two.

[0009] Preferably, the adhesive material is PEG or PVP.

[0010] Preferably, the first adhesive point and the second adhesive point are respectively disposed at both ends of the substrate, and when the first adhesive point and the second adhesive point are bonded together, the lower end of the first adhesive point is bonded to the upper end of the second adhesive point.

[0011] Preferably, the first bonding point is a protrusion, the second bonding point is a groove, and when the first bonding point and the second bonding point are bonded, the lower end of the first bonding point is bonded to the bottom of the second bonding point.

[0012] Preferably, the first bonding point is block-shaped, and the second bonding point is a groove. When the first bonding point and the second bonding point are bonded together, the first bonding point passes through the second bonding point and is bonded to the lower end of the substrate.

[0013] Preferably, a method for fabricating a magnetic energy soft robot includes the following steps:

[0014] S1. Mix and stir polydimethylsiloxane, curing agent and NdFeB magnet particles to obtain slurry one. Add fumed silica nanoparticles to slurry one to adjust the rheology and make the NdFeB magnet particles uniformly dispersed to obtain slurry two.

[0015] S2. The slurry is used to print the protrusion, substrate, first magnetic energy storage block and second magnetic energy storage block in sequence using a direct-write 3D printer to obtain a soft robot.

[0016] S3. Dry and cool the printed soft robot to solidify it. Magnetize the first and second magnetic energy storage blocks in the solidified soft robot to obtain the magnetic energy soft robot.

[0017] Preferably, the curing agent in step S1 is the curing agent that comes with Dow Corning SYLGARD 184, and the mass ratio of polydimethylsiloxane, curing agent, neodymium iron boron magnet particles and fumed silica nanoparticles in step S1 is 100:10:360:13.

[0018] Preferably, in step S2, the printing pressure of the direct-write 3D printer is 1 MPa, the printing speed is 12 mm / s, the needle diameter is 0.26 mm, and the printing height is 0.23 mm.

[0019] Preferably, the drying temperature in step S3 is 80-90°C, and the curing time is 2-3 hours.

[0020] Preferably, the magnetic energy soft robot is used as a drug carrier in the medical field.

[0021] The beneficial effects of this invention are:

[0022] 1. The magnetic energy soft robot proposed in this invention can move spontaneously without external energy input and can perform its function in an artificial environment without external construction.

[0023] 2. It has a specific response to the natural environment and can complete the required tasks when a rapid response to a specific environment is needed without the need for sensors. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the magnetic energy soft robot of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of a magnetic energy soft robot encapsulating a drug according to the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the magnetic energy soft robot encapsulating the drug in Embodiment 2 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the three magnetic energy soft robot used in this invention to encapsulate drugs.

[0029] Reference numerals: 1. Substrate; 2. First magnetic energy storage block; 3. Second magnetic energy storage block; 4. Bonding point one; 5. Bonding point two; 6. Adhesive material; 7. Drug. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] A method for fabricating a magnetic energy soft robot, the method comprising the following steps:

[0032] S1. Mix and stir polydimethylsiloxane, curing agent and NdFeB magnet particles to obtain slurry one. Add fumed silica nanoparticles to slurry one to adjust the rheology and make the NdFeB magnet particles uniformly dispersed to obtain slurry two.

[0033] S2. The slurry 2 is printed sequentially using a direct-write 3D printer to create a protrusion, substrate 1, first magnetic energy storage block 2 and second magnetic energy storage block 3 to obtain a soft robot.

[0034] S3. The printed soft robot is dried and cooled to solidify it. The first magnetic energy storage block 2 and the second magnetic energy storage block 3 in the solidified soft robot are then magnetized to obtain the magnetic energy soft robot. The magnetic energy soft robot is as follows: Figure 1 As shown.

[0035] Example 1

[0036] A magnetic energy soft robot includes: a substrate 1, a first magnetic energy storage block 2 and a second magnetic energy storage block 3 fixedly connected to the upper end of the substrate 1, the first magnetic energy storage block and the second magnetic energy storage block 3 having the same magnetism, a bonding point 4 at one end of the substrate 1 and a bonding point 5 at the other end of the substrate 1, the bonding point 4 and the bonding point 5 being adapted to each other, and the substrate 1 being foldable and bendable.

[0037] like Figure 2 As shown, the first bonding point 4 and the second bonding point 5 are respectively disposed at both ends of the substrate 1, and the first bonding point 4 and the second bonding point 5 are bonded together by the adhesive material 6; when the first bonding point is bonded to the second bonding point 5, the lower end of the first bonding point 4 is bonded to the upper end of the second bonding point 5.

[0038] When adhesive point 4 and adhesive point 5 are bonded together, the lower end of the first magnetic energy storage block is attached to the upper end of the second magnetic energy storage block 3. At this time, the drug 7 is encapsulated in the cavity formed by the substrate 1, the first magnetic energy storage block, and the second magnetic energy storage block 3.

[0039] The adhesive material 6 can fail under expected temperature or water conditions, releasing the bond between bonding point 4 and bonding point 5. When the bond between bonding point 4 and bonding point 5 is released, the first and second magnetic energy storage blocks 3 repel each other due to their identical magnetism, causing the substrate 1 to gradually return from a bent state to its original flat state, thereby releasing the drug 7 encapsulated in the cavity. After the adhesive material 6 fails, the magnetic force causes the release to occur rapidly within a very short time. Furthermore, the presence of magnetic energy allows the entire system to jump and directionally eject the drug 7. If the drug is in powder form, the rapid release of the drug due to the release of magnetic energy can also achieve the spraying and scattering release of the powdered drug.

[0040] It should be noted that, in addition to the cuboid shape shown in the figure, the substrate 1 can also be elliptical. Setting the substrate 1 to an elliptical shape makes the width in the middle of the substrate 1 larger, thereby forming a larger cavity for encapsulating the drug 7.

[0041] It should be noted that the substrate 1 is also provided with a placement groove at the position between the first magnetic energy storage block 2 and the second magnetic energy storage block 3. The placement groove is designed to facilitate the placement of the drug 7, thereby enabling better encapsulation of the drug 7.

[0042] Example 2

[0043] A magnetic energy soft robot includes: a substrate 1, a first magnetic energy storage block 2 and a second magnetic energy storage block 3 fixedly connected to the upper end of the substrate 1, the first magnetic energy storage block and the second magnetic energy storage block 3 having the same magnetism, a bonding point 4 at one end of the substrate 1 and a bonding point 5 at the other end of the substrate 1, the bonding point 4 and the bonding point 5 being adapted to each other, and the substrate 1 being foldable and bendable.

[0044] like Figure 3 As shown, the first adhesive point 4 is a protrusion, and the second adhesive point 5 is a groove. The first adhesive point 4 and the second adhesive point 5 are bonded together by adhesive material 6. When the first adhesive point is bonded to the second adhesive point 5, the lower end of the first adhesive point 4 is bonded to the bottom of the second adhesive point 5.

[0045] When adhesive point 4 and adhesive point 5 are bonded together, the lower end of the first magnetic energy storage block is attached to the upper end of the second magnetic energy storage block 3. At this time, the drug 7 is encapsulated in the cavity formed by the substrate 1, the first magnetic energy storage block, and the second magnetic energy storage block 3.

[0046] The adhesive material 6 can fail under expected temperature or water conditions, releasing the bond between bonding point 4 and bonding point 5. When the bond between bonding point 4 and bonding point 5 is released, the first and second magnetic energy storage blocks 3 repel each other due to their identical magnetism, causing the substrate 1 to gradually return from a bent state to its original flat state, thereby releasing the drug 7 encapsulated in the cavity. After the adhesive material 6 fails, the magnetic force causes the release to occur rapidly within a very short time, and the presence of magnetic energy allows the entire system to jump and eject the drug 7 in a directional manner. If the drug is in powder form, the rapid release of the drug due to the release of magnetic energy can also achieve the spraying and scattering release of the powdered drug.

[0047] It should be noted that, in addition to the cuboid shape shown in the figure, the substrate 1 can also be elliptical. Setting the substrate 1 to an elliptical shape makes the width in the middle of the substrate 1 larger, thereby forming a larger cavity for encapsulating the drug 7.

[0048] It should be noted that the substrate 1 is also provided with a placement groove at the position between the first magnetic energy storage block 2 and the second magnetic energy storage block 3. The placement groove is designed to facilitate the placement of the drug 7, thereby enabling better encapsulation of the drug 7.

[0049] Example 3

[0050] A magnetic energy soft robot includes: a substrate 1, a first magnetic energy storage block 2 and a second magnetic energy storage block 3 fixedly connected to the upper end of the substrate 1, the first magnetic energy storage block and the second magnetic energy storage block 3 having the same magnetism, a bonding point 4 at one end of the substrate 1 and a bonding point 5 at the other end of the substrate 1, the bonding point 4 and the bonding point 5 being adapted to each other, and the substrate 1 being foldable and bendable.

[0051] like Figure 4 As shown, the first bonding point 4 is block-shaped, and the second bonding point 5 is a groove. The first bonding point 4 and the second bonding point 5 are bonded together by the adhesive material 6. When the first bonding point is bonded to the second bonding point 5, the first bonding point 4 passes through the second bonding point 5 and is bonded to the lower end of the substrate 1.

[0052] When adhesive point 4 and adhesive point 5 are bonded together, the lower end of the first magnetic energy storage block is attached to the upper end of the second magnetic energy storage block 3. At this time, the drug 7 is encapsulated in the cavity formed by the substrate 1, the first magnetic energy storage block, and the second magnetic energy storage block 3.

[0053] The adhesive material 6 can fail under expected temperature or water conditions, releasing the bond between bonding point 4 and bonding point 5. When the bond between bonding point 4 and bonding point 5 is released, the first and second magnetic energy storage blocks 3 repel each other due to their identical magnetism, causing the substrate 1 to gradually return from a bent state to its original flat state, thereby releasing the drug 7 encapsulated in the cavity. After the adhesive material 6 fails, the magnetic force causes the release to occur rapidly within a very short time, and the presence of magnetic energy allows the entire system to jump and eject the drug 7 in a directional manner. If the drug is in powder form, the rapid release of the drug due to the release of magnetic energy can also achieve the spraying and scattering release of the powdered drug.

[0054] It should be noted that, in addition to the rectangular shape shown in the figure, the substrate can also be elliptical. Setting the substrate to an elliptical shape makes the width in the middle of the substrate larger, thereby forming a larger cavity to encapsulate the drug 7.

[0055] It should be noted that the substrate is also provided with a placement groove at the position between the first magnetic energy storage block and the second magnetic energy storage block. The placement groove is designed to facilitate the placement of the drug 7, thereby enabling better encapsulation of the drug 7.

[0056] Working principle: When it is necessary to deliver the drug 7 to the designated location, the drug 7 is placed directly on the upper end of the substrate 1 between the first magnetic energy storage block 2 and the second magnetic energy storage block 3. Then, the substrate 1 is folded so that the lower end of the first magnetic energy storage block 2 and the upper end of the second magnetic energy storage block 3 are attached. At this time, the drug 7 is wrapped in the cavity formed by the substrate 1, the first magnetic energy storage block, and the second magnetic energy storage block 3. Then, the adhesive material 6 is used to bond the first adhesive point 4 and the second adhesive point 5 together. Then, the magnetic energy soft robot is placed in the designated location. Then, the location where the magnetic energy soft robot is placed is heated or water is added to make the adhesive material 6 fail, thereby releasing the bond between the first adhesive point 4 and the second adhesive point 5, and thus releasing the drug 7 wrapped in the cavity.

[0057] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A magnetic energy soft robot, characterized in that, include: The substrate (1) has a first magnetic energy storage block (2) and a second magnetic energy storage block (3) fixedly connected to its upper end. The first magnetic energy storage block (2) and the second magnetic energy storage block (3) have the same magnetism. An adhesive point one (4) is provided near one end of the substrate (1), and an adhesive point two (5) is provided near the other end of the substrate (1). The adhesive point one (4) and the adhesive point two (5) are compatible. The substrate (1) can be folded and bent. The first bonding point (4) and the second bonding point (5) are bonded together by the adhesive material (6); The adhesive material (6) can fail under the expected temperature or water conditions, releasing the adhesion between the first adhesive point (4) and the second adhesive point (5); when the adhesive material (6) fails and the adhesion is released, the first magnetic energy storage block (2) and the second magnetic energy storage block (3) repel each other because they have the same magnetism, causing the substrate (1) to return from a bent state to a straight state and releasing the drug (7) in the cavity.

2. The magnetic energy soft robot according to claim 1, characterized in that: The adhesive material (6) is PEG or PVP.

3. The magnetic energy soft robot according to claim 1, characterized in that: The first bonding point (4) and the second bonding point (5) are respectively located at both ends of the substrate (1).

4. A magnetic energy soft robot according to claim 1, characterized in that: A groove is provided at one end of the substrate, and the second bonding point is disposed in the groove.

5. A magnetic energy soft robot according to claim 1, characterized in that: The first bonding point (4) is block-shaped, and the second bonding point (5) is a groove. When the first bonding point and the second bonding point (5) are bonded together, the first bonding point (4) passes through the second bonding point (5) and is bonded to the lower end of the substrate (1).

6. A method for preparing the magnetic energy soft robot according to any one of claims 1 to 5, characterized in that, The preparation method includes the following steps: S1. Mix and stir polydimethylsiloxane, curing agent and NdFeB magnet particles to obtain slurry one. Add fumed silica nanoparticles to slurry one to adjust the rheology and make the NdFeB magnet particles uniformly dispersed to obtain slurry two. S2. The slurry is printed sequentially using a direct-write 3D printer to produce a soft robot by printing a substrate (1), a first magnetic energy storage block (2), a second magnetic energy storage block (3), a bonding point one (4), and a bonding point two (5). S3. Dry and cool the printed soft robot to solidify it. Magnetize the first magnetic energy storage block (2) and the second magnetic energy storage block (3) in the solidified soft robot to obtain the magnetic energy soft robot.

7. The preparation method according to claim 6, characterized in that: In step S1, the curing agent is the same curing agent that comes with Dow Corning SYLGARD 184. The mass ratio of polydimethylsiloxane, curing agent, neodymium iron boron magnet particles and fumed silica nanoparticles in step S1 is 100:10:360:

13.

8. The preparation method according to claim 6, characterized in that: In step S2, the printing pressure of the direct-write 3D printer is 1MPa, the printing speed is 12mm / s, the needle diameter is 0.26mm, and the printing height is 0.23mm.

9. The preparation method according to claim 6, characterized in that: In step S3, the drying temperature is 80~90℃ and the curing time is 2~3h.

10. The application of a magnetic energy soft robot as a drug carrier in the medical field as described in any one of claims 1 to 5.

Images