A micro-nano robot magnetic control delivery device

Abstract

The present application provides a kind of micro-nano robot magnetic control delivery device, comprising: magnetic actuation guide wire, in blood vessel, near target area is guided using gradient magnetic field, its end is propelled by motor pulley device;The inside of magnetic actuation guide wire has cavity;Micro peristaltic pump device, one end is connected with the end of magnetic actuation guide wire;Micro-nano robot solution, the other end of micro peristaltic pump device is inserted into micro-nano robot solution, control device, control gradient magnetic field and motor pulley device are guided to near target area by magnetic actuation guide wire, and control micro peristaltic pump device drive micro-nano robot is transported to the tip of magnetic actuation guide wire via cavity, and control rotating magnetic field drive micro-nano robot to target target area in cluster mode.The present application solves the long-distance, high-efficiency, robust delivery problem of micro robot under complex physiological conditions in human body.

Description

Technical Field

[0001] This invention relates to the field of micro-nano robotics, and more specifically, to a magnetically controlled delivery device for micro-nano robots. Background Technology

[0002] Micro- and nanorobots refer to miniature robots with a scale of micrometers and nanometers, capable of converting energy in the form of magnetic, light, and sound into mechanical motion. With the development of life sciences and micro- and nanofabrication technologies, micro- and nanorobots, due to their tiny structure and controllable navigation capabilities, can enter disease sites that are difficult to access in the human body in a minimally invasive manner, showing broad application prospects in targeted drug delivery, cell delivery, and minimally invasive surgery. Among these applications, magnetic field-driven methods can utilize low-intensity magnetic fields to achieve non-invasive, high-efficiency remote control of robots within living organisms, finding widespread use in biomedicine.

[0003] With the development of medical robotics technology, physically driven flexible guidewire robots have gradually become ideal candidates for application in complex vascular interventional surgeries. Compared with standard guidewires used in minimally invasive vascular interventional surgeries, flexible guidewire robots, through the combination of polydimethylsiloxane (PDMS) and neodymium iron boron (NdFeB), can bend and rotate in any direction under the drive of an external magnetic field, precisely guiding the lesion area in complex vascular networks, effectively reducing the risk of vascular puncture and the duration of operation.

[0004] Although micro- and nanorobot delivery technologies have developed rapidly, each technology has its advantages and inherent limitations. Micro- and nanorobots move in environments with low Reynolds coefficients (Re << 1), where inertial forces are negligible and viscous forces dominate. According to the scallop theorem, micro- and nanorobots need to break symmetry through non-reciprocal motion to generate net displacement in viscous fluids (PALAGI S, FISCHER P. Bioinspired microrobots[J]. Nature Reviews Materials,2018,3(6):113-124.). Due to the relatively complex blood flow environment in the human body, with its high blood flow rate and interference from blood cells, micro- and nanorobots face the following challenges in achieving delivery in the circulatory system: relatively slow movement speed, long delivery distance, and being dispersed by biological fluids. Tubular medical catheters are widely used in the medical field for drug delivery, where functional drugs can be propelled to distal locations through their lumen (Wang B, Chan KF, et al. Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging[J]. Science Robotics, 2021, 6(52): eabd2813.). Among them, catheters based on pneumatic or hydraulic chamber drive mechanisms face inherent challenges in miniaturization. Submillimeter-sized ferromagnetic soft robots, with their embolization control, can navigate rapidly to target locations in large-diameter blood vessels under external field drive (KIM Y, PARADA GA, et al. Ferromagnetic soft continuum robots[J]. SCIENCE ROBOTICS, 2019, 4(33.), but due to their size limitations, manipulation in small-diameter or tortuous and complex vascular networks still faces challenges. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a micro / nano robot magnetic delivery device.

[0006] To overcome the inherent limitations of magnetically actuated guidewires, such as their size restricting their entry into tiny blood vessels, and the slow movement speed, limited navigation distance, and susceptibility to blood flow of micro- and nano-robots, this invention provides a multi-level magnetically controlled delivery scheme that combines embolized control of the magnetically actuated guidewire with embolized-free control of the micro- and nano-robots. This scheme is expected to solve the problem of long-distance, efficient, and robust delivery of micro-robots under complex physiological conditions in the human body.

[0007] According to a first aspect of the present invention, a micro / nano robot magnetic delivery device is provided, comprising:

[0008] A magnetically actuated guidewire, which is guided in a blood vessel by a gradient magnetic field and whose end is propelled by a motor-driven wheel device; the magnetically actuated guidewire has an internal cavity;

[0009] A micro-peristaltic pump device, one end of which is connected to the end of the magneto-actuated guide wire;

[0010] A micro-nano robot solution, with the other end of the micro-peristaltic pump device inserted into the micro-nano robot solution;

[0011] The control device controls the gradient magnetic field and the motor wheel to guide the magneto-actuated guidewire to the vicinity of the target area, controls the micro-peristaltic pump to drive the micro-nano robots in the micro-nano robot solution to be transported to the tip of the magneto-actuated guidewire through the cavity, and controls the rotating magnetic field to drive the micro-nano robots to target the target area in a cluster manner.

[0012] Optionally, the method for preparing the magnetically actuated guidewire includes:

[0013] Polydimethylsiloxane and neodymium iron boron particles are uniformly mixed in a preset ratio to obtain a ferromagnetic composite elastomer;

[0014] The ferromagnetic composite elastomer is vacuum treated, then injected into a capillary glass tube, and then a concentric stainless steel needle is inserted into the capillary glass tube.

[0015] The capillary glass tube is heated until it is completely solidified;

[0016] The concentric stainless steel needle and the capillary glass tube are removed to obtain a ferromagnetic hollow guide wire with an internal cavity. The ferromagnetic hollow guide wire is modified by oxygen plasma treatment to give it a hydrophilic surface.

[0017] The hydrophilically modified ferromagnetic hollow guide wire is magnetized under a magnetic field to saturate the dispersed NdFeB particles along the axial direction, thus obtaining a magnetoactuated guide wire.

[0018] Optionally, the polydimethylsiloxane and neodymium iron boron particles are uniformly mixed in a preset ratio, wherein: unmagnetized neodymium iron boron particles with an average diameter of 5-15 μm are used, and the ratio of polydimethylsiloxane to neodymium iron boron particles is determined according to the hardness and magnetic response characteristics requirements of the magnetic actuation wire.

[0019] Optionally, the polydimethylsiloxane and neodymium iron boron particles are uniformly mixed in a preset ratio, wherein the mass ratio of polydimethylsiloxane to neodymium iron boron particles is 1:1.

[0020] Optionally, a concentric stainless steel needle is inserted into the capillary glass tube, wherein the diameter of the concentric stainless steel needle is determined according to the size of the micro / nano robot to be delivered.

[0021] Optionally, the hydrophilically modified ferromagnetic hollow wire is magnetized under a magnetic field, wherein the magnetic field is a pulsed magnetic field with a magnetic field strength of 2-3T, and the magnetization direction is axial magnetization.

[0022] Optionally, the gradient magnetic field is applied through a cylindrical permanent magnet, and the control device controls the cylindrical permanent magnet to apply a driving magnetic field at a preset distance, and controls the applied magnetic field strength to be 10-20mT.

[0023] Optionally, the relationship between the magnetic field strength and the preset distance is as follows:

[0024]

[0025] Where B is the magnetic field strength in T; μ0 is the permeability of free space; M is the magnetic moment in A·m; and r is the distance between the magnetic actuation wire and the surface of the cylindrical permanent magnet.

[0026] Optionally, the micro-nano robot is a paramagnetic ferromagnetic particle, and the diameter of the paramagnetic ferromagnetic particle is smaller than the cavity diameter of the magnetoactuated guide wire.

[0027] Optionally, the control device controls the direction of the rotating magnetic field to enable the micro-nano robots to target the target area in a swarm manner.

[0028] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0029] The multi-level magnetically controlled delivery scheme provided by this invention, which combines embolized control of the magnetically actuated guidewire and embolized-free control of the micro-nano robot, can overcome the inherent limitations of the magnetically actuated guidewire, which is difficult to enter micro-vessels due to size constraints, as well as the inherent limitations of the micro-nano robot, such as slow movement speed, limited navigation distance, and susceptibility to blood flow. This enables long-distance, efficient, and robust delivery of microrobots under complex physiological conditions in the human body. Attached Figure Description

[0030] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0031] Figure 1 This is a schematic diagram of the principle of a micro-nano robot magnetic delivery device in one embodiment of the present invention;

[0032] Figure 1 In the middle: 1 is a magneto-actuated guide wire, 2 is a micro-nano robot, 3 is a motor wheel device, and 4 is a micro-peristaltic pump device;

[0033] Figure 2 This is a schematic diagram of the principle of a micro-nano robot magnetic delivery device in one embodiment of the present invention;

[0034] Figure 2 In the middle: 1 is the magnetically actuated guidewire, 2 is the micro-nano robot, 5 is the vascular network, and 6 is the target location;

[0035] Figure 3 This is a schematic flowchart of a method for preparing a magneto-actuated guidewire according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic cross-sectional view of a magnetically actuated guide wire in one embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram illustrating the principle of magnetically actuated guide wire deflection in one embodiment of the present invention;

[0038] Figure 6 This is a diagram illustrating the experimental process of a magnetically actuated guidewire navigating in a blood vessel model according to one embodiment of the present invention.

[0039] Figure 7 This is a schematic diagram of the principle and experimental process of micro-nano robot swarm manipulation in one embodiment of the present invention;

[0040] Figure 8 This is a diagram illustrating the delivery process of a micro-nano robot magnetic delivery device in one embodiment of the present invention. Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0042] This invention provides a micro / nano robot magnetic delivery device, with reference to... Figure 1The device includes a magneto-actuated guidewire 1, a micro-nano robot solution, a motor-driven impeller 3, a control device, and a micro-peristaltic pump 4. The magneto-actuated guidewire 1 is guided to the vicinity of a target area within a blood vessel using a gradient magnetic field. Its end is propelled by the motor-driven impeller 3, and the guidewire 1 has an internal cavity. One end of the micro-peristaltic pump 4 is connected to the end of the magneto-actuated guidewire 1, and the other end is inserted into the micro-nano robot solution. The control device controls the gradient magnetic field and the motor-driven impeller 3 to guide the magneto-actuated guidewire 1 to the vicinity of the target area, and controls the micro-peristaltic pump 4 to drive the micro-nano robots 2 in the micro-nano robot solution to be transported through the cavity to the tip of the magneto-actuated guidewire 1 (the end opposite the end, located in the blood vessel). It also controls the rotating magnetic field to drive the micro-nano robots 2 to target the target area in a cluster. In practice, the impeller of the micro-peristaltic pump 4 draws in liquid containing a high concentration of micro-nano robots 2 as it rotates, and then pumps the liquid containing the high concentration of micro-nano robots 2 out under pressure through the end connected to the magneto-actuated guidewire 1. Due to the size limitation of the magnetically actuated guidewire 1, it can only reach the branch near the target area under the driving field (gradient magnetic field). At this time, the micro-nano robot 2 is delivered to the tip of the guidewire through the internal cavity of the magnetically actuated guidewire 1, and then the target area is further targeted through the cluster control method.

[0043] The multi-level magnetically controlled delivery scheme for micro / nano robots in this embodiment of the invention combines tethered magnetically actuated guidewires with tetherless micro / nano robots. (Refer to...) Figure 2 In a high-velocity, large-diameter vascular network 5, a gradient magnetic field is used to steer the magnetically actuated guidewire 1, changing its direction of travel. A motor-driven wheel device 3 provides the forward propulsion, guiding the magnetically actuated guidewire 1 to the vicinity of the target location (target area) 6. Figure 2 As shown in (a); after the magnetically actuated guidewire 1 is guided to the vicinity of the target position 6, a high concentration of micro-nano robots 2 is delivered from the cavity of the magnetically actuated guidewire 1 to its tip position via a micro-peristaltic pump device, as shown in (a). Figure 2 As shown in (b); after the micro-nano robots 2 delivered to the tip of the magnetically actuated guidewire 1 are released, the swimming micro-nano robots 2, driven by a rotating magnetic field, roll in a cluster along the blood vessel wall to target the target position 6, as shown in (b). Figure 2 As shown in (c).

[0044] In some implementations, refer to Figure 3 The methods for preparing magnetically actuated guidewires include:

[0045] S1, such as Figure 3 (a) Polydimethylsiloxane (PDMS) and neodymium iron boron (NdFeB) particles are uniformly mixed in a preset ratio to obtain a ferromagnetic composite elastomer;

[0046] S2, such as Figure 3(b) Vacuum treatment of the ferromagnetic composite elastomer, followed by injection of the ferromagnetic composite elastomer into a capillary glass tube pretreated with a silicone release agent, and then insertion of concentric stainless steel needles into the capillary glass tube.

[0047] S3, such as Figure 3 (c) Heat the capillary glass tube until it is completely solidified;

[0048] S4, such as Figure 3 (d) Remove the concentric stainless steel needle and capillary glass tube to obtain a ferromagnetic hollow guidewire with an internal cavity. Modify the ferromagnetic hollow guidewire by oxygen plasma treatment to give it a hydrophilic surface. In biomedical applications, when the guidewire needs to enter small blood vessels, the hydrophilic surface can increase the lubrication of the guidewire in the blood vessel, reduce surface friction, and reduce damage and irritation to the blood vessel wall.

[0049] S5, such as Figure 3 (e) The hydrophilically modified ferromagnetic hollow guide wire is magnetized under a magnetic field to saturate the dispersed NdFeB particles along the axial direction, thereby obtaining a magnetically actuated guide wire.

[0050] In some embodiments, in step S1, unmagnetized NdFeB particles with an average diameter of 5-15 μm are used. The ratio of polydimethylsiloxane to NdFeB particles is determined based on the required hardness and magnetic response characteristics of the magnetoactuated wire. For example, unmagnetized NdFeB particles are uniformly mixed with PDMS at a 1:1 mass ratio, and air bubbles are removed in a vacuum pump to obtain a ferromagnetic composite elastomer. The magnetoactuated wire prepared in this ratio has a net magnetic moment of 2.1 × 10⁻⁶. -4 Am 2 With a Young's modulus of 1.689 MPa, the magnetoacted guide wire can achieve a deformation >90° even under relatively low magnetic field strength (5-15 mT). The saturation magnetic moment of the magnetoacted guide wire increases linearly with the mass fraction (wt%) of NdFeB particles in the PDMS. Specifically, when the mass fraction of NdFeB particles exceeds 50%, the viscosity of the ferromagnetic composite elastomer increases, making it impossible to inject into the capillary glass tube mold. When PDMS and NdFeB particles are mixed at a 1:1 mass ratio, the NdFeB content in the ferromagnetic composite elastomer can be maximized, and it can be prepared by injection molding.

[0051] This invention employs injection molding to prepare the magnetoactuated guidewire. A capillary glass tube serves as the mold, and the diameter of the concentric stainless steel needle is the same as the cavity diameter of the final magnetoactuated guidewire. In some embodiments, in step S2, the diameter of the concentric stainless steel needle is determined according to the size of the micro / nano robot to be delivered. The diameter of the micro / nano robot should be smaller than the cavity diameter to avoid clogging the magnetoactuated guidewire. Preferably, the diameter of the concentric stainless steel needle is 160-200 μm. More preferably, the outer diameter of the capillary glass tube mold is 900 μm, the inner diameter is 700 μm, and the length is 3 cm. The diameter of the concentric stainless steel needle used to create the cavity is 160 μm. After curing, the hollow stainless steel needle is removed to obtain the magnetoactuated guidewire with the cavity. In typical percutaneous coronary intervention (PCI), the guidewire diameter used for cardiovascular disease treatment is usually 400-800 μm to enable steering and navigation in tortuous coronary arteries with a diameter of 2-3 cm (Zhou FF, Liu YH, Ge PC, et al. Coronary Artery Diameter is Inversely Associated with the Severity of Coronary Lesions in Patients Undergoing Coronary Angiography. Cell Physiol Biochem. 2017; 43(3):1247-1257.). In practical implementation, the magnetically actuated guidewire is prepared by injection molding. The inner diameter of the capillary glass tube determines the guidewire diameter, and a capillary glass tube mold with an inner diameter of 400-800μm can be selected according to the specific application. The outer diameter of the capillary glass tube is usually determined by its manufacturing process and materials. To facilitate the demolding of the magnetically actuated guidewire from the capillary glass tube, a capillary glass tube made of high borosilicate glass that is easy to remove should be selected. The length of the capillary glass tube determines the length of the magnetically actuated guidewire. In specific applications, the length of the interventional vessel should be selected according to the needs, such as 1-5cm.

[0052] It should be noted that, in practice, the size of the capillary glass tube mold can be adjusted arbitrarily according to the specific application requirements to change the diameter and length of the magnetic actuation guide wire.

[0053] In some embodiments, in step S3, heating is performed in an oven at 80-180°C for 5-15 minutes to fully cure the ferromagnetic composite elastomer. Since PDMS is an organosilicon polymer, curing PDMS often requires the use of a silane coupling agent and catalysis of the crosslinking reaction at a specific temperature. In this embodiment, the temperature and heating time are chosen to ensure complete curing of the ferromagnetic composite elastomer, facilitating demolding from the capillary glass tube.

[0054] In some embodiments, in S5, the magnetic field is a pulsed magnetic field with a strength of 2-3T, and the magnetization direction is axial magnetization. Specifically, a pulsed magnetic field can quickly magnetize the NdFeB magnet to the desired magnetization direction because NdFeB has high coercivity. Traditional steady-state magnetic fields require a long time to fully magnetize it, while a pulsed magnetic field can provide a strong magnetic field in a very short time. This shortens the magnetization process and effectively reduces the thermal effects caused by the high-intensity magnetic field, ensuring that the NdFeB magnet is not damaged.

[0055] The structure of the magnetically actuated guide wire prepared using the above-described method is as follows: Figure 4 As shown, the magneto-actuated guidewire has a cavity inside. For example, the outer diameter of the magneto-actuated guidewire is 700 μm and the cavity diameter is 164 μm. The cavity is used to deliver micro-nano robots.

[0056] In this embodiment of the invention, high-concentration swimming micro-nano robots are delivered from the cavity of a magnetoactuated guidewire to its tip via a micro-peristaltic pump device, and then target the target area in a cluster manner under the drive of a rotating magnetic field. This method allows the micro-nano robots to avoid direct contact with the dynamic blood environment, reducing the possibility of them being dispersed by blood flow. The magnetoactuated guidewire enables rapid navigation to the vicinity of the target area in fast-flowing, large-diameter blood vessels, followed by delivery of the swimming micro-nano robots from the guidewire cavity. This effectively improves the targeting efficiency of micro-nano robots under complex physiological conditions and enables long-distance, robust delivery.

[0057] Reference Figure 5 The basic principle of magnetic steering of a magneto-actuated guidewire is as follows: Under the action of magnetic gradient force and magnetic torque, the tip of the magneto-actuated guidewire aligns with the central axis of the magnetic field. By moving the magnet in the desired direction, the magneto-actuated guidewire can be steered. Specifically, the gradient magnetic field is applied through a cylindrical permanent magnet. The control device controls the cylindrical permanent magnet to apply the driving magnetic field (gradient magnetic field) at a preset distance, and controls the applied magnetic field strength to be 10-20 mT. The magnetic field strength and distance follow an inverse square relationship. The magnetic field strength is chosen to be 10-20 mT, which not only effectively achieves the steering of the magneto-actuated guidewire but also considers biosafety for application in human blood vessels. The preset distance of the cylindrical permanent magnet is calculated based on the properties of the magnet used, and the formula for calculating the magnetic field strength and distance is:

[0058]

[0059] Where B is the magnetic field strength (unit: T), and μ0 is the free magnetic permeability (approximately 4π × 10⁻⁶). -7 T·m / A), M is the magnetic moment (unit: A·m), and r is the distance between the magnetic actuation wire and the surface of the circular permanent magnet.

[0060] The magnetoactuated wire is magnetized (enlarged) along its axial direction under a pulsed magnetic field. The magnetization direction of the magnetoactuated wire can be optimized according to the deformation task to be performed.

[0061] Figure 6 The diagram shows an experimental process of a magnetically actuated guidewire navigating in a blood vessel model according to an embodiment of the present invention. Figure 6 (a) is a vascular model used in an embodiment of the present invention to test the steering performance of a magnetically actuated guidewire. Specifically, the channel diameter of the vascular model used to test the steering performance of the magnetically actuated guidewire is 2-5 mm. Figure 6 (bi)~ Figure 6 (bv) is an experimental diagram illustrating the process of a magneto-actuated guidewire navigating from its starting point to its target position at different time points under the guidance of a gradient magnetic field, as described in this embodiment of the invention. By moving the magnet in the desired direction at the branch node, the tip of the magneto-actuated guidewire can be aligned with the central axis of the magnetic field, thereby achieving steering. The end of the magneto-actuated guidewire (the end connected to the micro-peristaltic pump) is propelled by a motor-driven wheel device.

[0062] In some implementations, the micro-nano robots are paramagnetic ferromagnetic particles with a diameter smaller than that of the cavity of the magnetoactuated wire, thereby enabling them to target a region in a cluster manner under a rotating magnetic field.

[0063] In the above embodiments, the swimming micro-nano robots delivered from the magnetically actuated guide wire cavity target the target area in a swarm manner under the influence of a rotating magnetic field. The control device controls the direction of the rotating magnetic field to enable the micro-nano robots to target the target area in a swarm manner. (Refer to...) Figure 7 The principle of swarm manipulation of micro- and nano-robots is as follows:

[0064] like Figure 7 As shown in (i), in the absence of a magnetic field, the micro-nano robots are in a dispersed state; driven by a rotating magnetic field, the magnetization direction of the ferromagnetic particles aligns with the direction of the magnetic field, exhibiting periodic rotational motion under the influence of magnetic torque. Adjacent ferromagnetic micro-nano robots self-assemble into a chain-like structure under the mutual influence of fluid forces and dipole-dipole forces, as shown in (i). Figure 7 As shown in (ii), further rotation of the chain-like ferromagnetic micro / nanorobot induces localized eddies, leading to an increase in fluid torque, which in turn attracts adjacent chains. When the distance between the ferromagnetic micro / nanorobot chains reaches a critical value, the chains cluster under the influence of the eddies, as shown in [example missing]. Figure 7 As shown in (iii), a cluster of micro- and nano-robots rotates around its center along the surface of a blood vessel, ultimately targeting the target area by changing the direction of the applied rotating magnetic field.

[0065] Reference Figure 8 The specific process of magnetic delivery using the aforementioned micro / nano robot magnetic delivery device is as follows:

[0066] S1, such as Figure 8 (i) Using a gradient magnetic field and a motor wheel device to guide the magnetically actuated guide wire toward the target area;

[0067] S2, such as Figure 8 (ii) Micro-nano robots are delivered from the cavity of the magneto-actuated guidewire to the tip of the magneto-actuated guidewire (one end in the blood vessel) via a micro-peristaltic pump device.

[0068] S3, such as Figure 8 (iii) The swimming micro-nano robots delivered to the tip of the magneto-actuated guidewire are driven by a rotating magnetic field and roll along the blood vessel wall in a cluster to target the target area.

[0069] In this embodiment of the invention, micro-nano robots roll along the blood vessel wall in a cluster under the influence of a rotating magnetic field. The presence of the blood vessel wall breaks the symmetry of the fluid field, thereby enabling effective movement in a low Reynolds coefficient environment.

[0070] In the above embodiments of the present invention, a magneto-actuated guidewire is first guided to the vicinity of a target area in a blood vessel with high flow velocity and large diameter using a gradient magnetic field and a motor-driven impeller. Then, a micro-nano robot is delivered from the cavity of the magneto-actuated guidewire using a micro-peristaltic pump. After release, the swimming micro-nano robots target the target area in a cluster under the drive of a rotating magnetic field. The multi-stage magneto-controlled delivery scheme combining embolized-controlled magneto-actuated guidewires and embolized-free micro-nano robots provided by the above embodiments of the present invention can overcome the inherent limitations of magneto-actuated guidewires (due to size constraints, making them difficult to enter small blood vessels) and the inherent limitations of micro-nano robots (slow movement speed, limited navigation distance, and susceptibility to blood flow dispersion). This enables long-distance, efficient, and robust delivery of microrobots under complex physiological conditions. The multi-stage magneto-controlled delivery scheme for micro-nano robots in the above embodiments of the present invention provides an efficient and reliable delivery strategy for their application in the field of biomedical engineering.

[0071] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. The above preferred features can be used in any combination without conflict.

Claims

1. A micro / nano-robotic magnetically controlled delivery device, characterized in that, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

2. The micro / nano robotic magnetically controlled delivery device according to claim 1, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

3. The micro / nano robotic magnetically controlled delivery device according to claim 2, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

4. The micro / nano robotic magnetically controlled delivery device of claim 2, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

5. The micro / nano robotic magnetically controlled delivery device of claim 2, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

6. The micro / nano robotic magnetically controlled delivery device of claim 2, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

7. The micro / nano robotic magnetically controlled delivery device according to claim 1, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

8. The micro / nano robotic magnetically controlled delivery device according to claim 7, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

9. The micro / nano robotic magnetically controlled delivery device of claim 1, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device.

10. The micro / nano robotic magnetically controlled delivery device of claim 1, wherein, The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application relates to a magnetic actuation guide wire, a micro-peristaltic pump device, a micro-nano robot solution and a control device. The application

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