A magnetically driven liquid metal micron robot and its preparation method and application

Abstract

The present invention discloses a magnetically driven liquid metal micrometer robot and its preparation method and application, belonging to the field of micrometer device preparation technology. The magnetically driven liquid metal micrometer robot comprises a liquid metal skeleton, magnetic particles and a polymer layer; wherein the magnetic particles are distributed inside the liquid metal skeleton, and the polymer layer is coated on the surface of the liquid metal skeleton. The magnetically driven liquid metal micrometer robot in the present invention has certain stability, good biocompatibility, fast movement speed, controllable movement direction, and controllable movement mode. In addition, the preparation process of the present invention is simple, the preparation process can be used to prepare liquid metal micrometer robots in large quantities, and the size of the magnetically driven liquid metal micrometer robot can be controlled by regulating the ultrasonic time and ultrasonic power. Therefore, it has broad application prospects in the field of wireless remote treatment of neurological diseases in various complex biological environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of micron device preparation, and in particular relates to a magnetically driven liquid metal micron robot and a preparation method and application thereof. Background Art

[0002] A micro-nano robot is a micro-nano device that can convert other forms of energy into kinetic energy at the micro-nano scale and can move autonomously.

[0003] Currently, most micro- and nanorobots are primarily composed of solid micro- and nanostructures. However, the inherent mechanical limitations of these rigid solid materials restrict their adaptability. When mismatched with their target environments, particularly biological environments, they can cause unpredictable effects on organisms. Therefore, the development of a new magnetically driven liquid metal microrobot is urgently needed to address the shortcomings of existing micro- and nanorobots in their applications. Summary of the Invention

[0004] The present invention aims to provide a magnetically driven liquid metal microrobot, its preparation method, and its application. The magnetically driven liquid metal microrobot of the present invention exhibits stability, controllable size, good biocompatibility, high speed, controllable direction, and controllable motion. Therefore, it has broad application prospects in the field of wireless remote treatment of neurological diseases in various complex biological environments.

[0005] In a first aspect, the present invention provides a magnetically driven liquid metal microrobot, comprising a liquid metal skeleton, magnetic particles and a polymer layer; wherein the magnetic particles are distributed inside the liquid metal skeleton, and the polymer layer is coated on the surface of the liquid metal skeleton.

[0006] In the present invention, the inventors have discovered that liquid metal has good fluidity and high surface tension. By using liquid metal as a skeleton and evenly distributing magnetic particles inside it, the resulting magnetically driven liquid metal micro-robot can move in a directed manner under the action of an external magnetic field. Furthermore, a high molecular polymer layer is coated on the surface of the liquid metal, which can prevent the magnetically driven liquid metal micro-robot from agglomerating and improve the stability of the magnetically driven liquid metal micro-robot.

[0007] In some embodiments, the particle size of the magnetically driven liquid metal microrobot is 0.1-200 μm, for example, it can be 0.1 μm, 1 μm, 10 μm, 20 μm, 30 μm, 40 μm, 50 μm, 60 μm, 70 μm, 80 μm, 90 μm, 100 μm, 110 μm, 120 μm, 130 μm, 140 μm, 150 μm, 160 μm, 170 μm, 180 μm, 190 μm, 200 μm or other values ​​within this range.

[0008] In the present invention, by controlling the particle size of the magnetically driven liquid metal micro-robot within different ranges, the application of the magnetically driven liquid metal micro-robot in different complex biological environments is facilitated.

[0009] In some embodiments, the particle size of the magnetic particles is 10-1000 nm, for example, it can be 10 nm, 20 nm, 50 nm, 100 nm, 150 nm, 200 nm, 250 nm, 300 nm, 350 nm, 400 nm, 450 nm, 500 nm, 550 nm, 600 nm, 650 nm, 700 nm, 750 nm, 800 nm, 850 nm, 900 nm, 950 nm, 1000 nm or other values ​​within this range.

[0010] In some preferred embodiments, the particle size of the magnetic particles is 100 nm.

[0011] In the present invention, by controlling the particle size of the magnetic particles within a specific range, the magnetic particles can more efficiently enter the interior of the liquid metal skeleton and be more evenly distributed in the interior of the liquid metal skeleton.

[0012] In some embodiments, the mass ratio of magnetic particles to liquid metal is 1:(5-30), for example, 1:5, 1:10, 1:15, 1:20, 1:25, 1:30 or other ratios within this range.

[0013] In some preferred embodiments, the mass ratio of magnetic particles to liquid metal is 1:10.

[0014] In some embodiments, the liquid metal includes at least one of gallium, indium, tin, and zinc.

[0015] In the present invention, the liquid metal may, for example, include only gallium, or only indium, or only tin, or only zinc, or an alloy composed of at least one of gallium, indium, tin and zinc, for example, it may be a gallium-indium binary alloy, or a gallium-tin binary alloy, or a gallium-zinc binary alloy, or an indium-tin binary alloy, or an indium-zinc binary alloy, or a tin-zinc binary alloy, or a gallium-indium-tin ternary alloy, or a gallium-indium-zinc ternary alloy, or an indium-tin-zinc ternary alloy, or a gallium-indium-tin-zinc ternary alloy, or a gallium-indium-tin-zinc quaternary alloy, and in the above alloys, the mass ratio of each metal can be conventionally adjusted according to actual use needs.

[0016] In some preferred embodiments, the liquid metal is a gallium-indium alloy.

[0017] In some embodiments, the magnetic particles include at least one element of iron, cobalt, nickel, and gadolinium.

[0018] In the present invention, the magnetic particles may include, for example, only iron, or only cobalt, or only nickel, or only gadolinium, or may be oxides of iron, cobalt, nickel and gadolinium, such as ferrosoferric oxide.

[0019] In some preferred embodiments, the magnetic particles are iron powder.

[0020] In this invention, magnetic particles can sense external magnetic fields and generate a magnetic response, causing the robot to move in a certain direction or change its speed. Specifically, the magnetic particles cause the robot to move in a certain direction by responding to an external oscillating or rotating magnetic field. Changing the magnetic field's intensity and frequency can also change the robot's speed. The magnetic field controls the direction in real time, allowing for precise control of movement direction.

[0021] In some embodiments, the high molecular weight polymer includes at least one of polypropylene, polydopamine, polypyrrole, polyaniline, polymethyl methacrylate, polystyrene, polyamide, polyacrylonitrile, polybutylene, polyethylene oxide, polyimide, polyethylene glycol, polyvinyl pyrrolidone, polyvinyl alcohol, polyacrylic acid, and polyacrylamide.

[0022] In some preferred embodiments, the high molecular weight polymer is polyvinyl pyrrolidone. In some more preferred embodiments, the molecular weight of polyvinyl pyrrolidone is 3000-1300000, for example, it can be 3000, 5000, 10000, 20000, 30000, 40000, 50000, 60000, 70000, 80000, 90000, 95000, 100000, 110000, 1200000, 1300000 or other values ​​within this range.

[0023] In some more preferred embodiments, the polyvinylpyrrolidone has a molecular weight of 95,000.

[0024] In a second aspect, the present invention provides a method for preparing a magnetically driven liquid metal micro-robot as described above, comprising the following steps: providing liquid metal and a polymer acid solution respectively; adding the liquid metal to the acid solution, and then adding magnetic particles to obtain magnetic liquid metal; adding the magnetic liquid metal to the polymer acid solution, and obtaining a magnetically driven liquid metal micro-robot after ultrasonic treatment.

[0025] In this study, a magnetically driven liquid metal microrobot with controllable size and a certain degree of structural stability was fabricated using an ultrasonic method. The preparation process is simple and can be used to mass-produce liquid metal microrobots. Furthermore, the size of the magnetically driven liquid metal microrobot can be controlled by regulating the ultrasonic duration and power.

[0026] In some embodiments, in the provided high molecular weight polymer acid solution, the acid solution comprises a hydrochloric acid solution.

[0027] In the present invention, the acid solution may be any conventional acid solution in the prior art, such as a sulfuric acid solution, a nitric acid solution or a hydrochloric acid solution. In the present invention, a hydrochloric acid solution is preferred.

[0028] In some preferred embodiments, the pH value of the polymer acid solution is 1-5, for example, it can be 1, 2, 3, 4, 5 or other values ​​within this range.

[0029] In some more preferred embodiments, the pH value of the high molecular weight polymer acid solution is 3.

[0030] In some embodiments, during the preparation of the magnetic liquid metal, the acid solution comprises a hydrochloric acid solution.

[0031] In the present invention, the acid solution may be any conventional acid solution in the prior art, such as a sulfuric acid solution, a nitric acid solution or a hydrochloric acid solution. In the present invention, a hydrochloric acid solution is preferred.

[0032] In some preferred embodiments, the concentration of the hydrochloric acid solution is 0.5-5 mol / L, for example, it can be 0.5 mol / L, 1 mol / L, 1.5 mol / L, 2 mol / L, 2.5 mol / L, 3 mol / L, 3.5 mol / L, 4 mol / L, 4.5 mol / L, 5 mol / L or other values ​​within this range.

[0033] In some more preferred embodiments, the concentration of the hydrochloric acid solution is 5 mol / L.

[0034] In the present invention, during the preparation process of the magnetic liquid metal, the hydrochloric acid solution is added to remove the oxide layer on the surface of the liquid metal, thereby obtaining liquid metal with a smooth and bright surface.

[0035] In a third aspect, the present invention provides the use of any of the magnetically driven liquid metal microrobots described above in wireless remote treatment of neurological diseases.

[0036] In the present invention, the magnetically driven liquid metal microrobot can pass through narrow channels, deform and pass through a simulated in vitro blood-brain barrier, and magnetically stimulate nerve cells under the conditions of a rotating magnetic field under the control of an external magnetic field. Therefore, it has good application prospects in the wireless remote treatment of neurological diseases.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] 1) The magnetically driven liquid metal microrobot of the present invention has certain stability, controllable size, good biocompatibility, fast movement speed, controllable movement direction, and controllable movement mode. Therefore, it has broad application prospects in the field of wireless remote treatment of neurological diseases in various complex biological environments;

[0039] 2) Due to the mechanical properties of magnetic nanoparticles, the magnetically driven liquid metal microrobot of the present invention can respond to external magnetic fields and achieve precise control of movement direction and speed in oscillating and rotating magnetic fields;

[0040] 3) Since liquid metal is non-toxic and biofriendly, the magnetically driven liquid metal microrobot of the present invention has excellent performance in the field of disease treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the preparation process of the magnetically driven liquid metal micro-robot in the present invention;

[0042] Figure 2 Transmission electron microscope image and elemental analysis diagram of the magnetically driven liquid metal micro-robot prepared in Example 1 of the present invention;

[0043] Figure 3 This is a scanning electron microscope image of the material prepared in Example 1 of the present invention without being screened by a magnet;

[0044] Figure 4 This is a scanning electron microscope image of the magnetically driven liquid metal micro-robot prepared in Comparative Example 1 of the present invention;

[0045] Figure 5 This is a graph showing the movement speed of magnetically driven liquid metal micro-robots with different particle sizes (4 μm, 7 μm, 10 μm, and 15 μm) prepared in Example 1 of the present invention under the same magnetic field conditions;

[0046] Figure 6 This is a time-lapse diagram of the movement of magnetically driven liquid metal micro-robots with different particle sizes (4 μm, 7 μm, 10 μm, and 15 μm) prepared in Example 1 of the present invention under the same magnetic field conditions;

[0047] Figure 7 This is a diagram showing the results of the magnetically driven liquid metal micro-robot with a particle size of 10 μm prepared in Example 1 of the present invention climbing over a 40 μm high obstacle under the action of a rotating magnetic field;

[0048] Figure 8 This is a diagram showing the results of a magnetically driven liquid metal microrobot with a particle size of 15 μm prepared in Example 1 of the present invention passing through a narrow channel of 10 μm under the combined action of a rotating magnetic field and a simulated flow field;

[0049] Figure 9 This is a fluorescence microscope image of the magnetically driven liquid metal microrobot prepared in Example 5 of the present invention activating nerve cells under the action of magnetic force. DETAILED DESCRIPTION

[0050] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] For experimental methods in the examples where specific conditions are not specified, generally conventional conditions and conditions described in the manual or conditions recommended by the manufacturer were followed. The general equipment, materials, reagents, etc. used were all commercially available unless otherwise specified.

[0052] See also Figure 1 , which is a schematic diagram of the preparation process of the magnetically driven liquid metal micro-robot in the present invention. Specifically, liquid metal and a polymer acid solution are provided separately; the liquid metal is added to the acid solution, and then magnetic particles are added to obtain magnetic liquid metal; the magnetic liquid metal is added to the polymer acid solution and ultrasonically treated to obtain the magnetically driven liquid metal micro-robot. The prepared magnetically driven liquid metal micro-robot includes a liquid metal skeleton, magnetic particles, and a polymer layer; wherein the magnetic particles are distributed inside the liquid metal skeleton, and the polymer layer is coated on the surface of the liquid metal skeleton.

[0053] Example 1

[0054] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0055] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0056] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0057] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0058] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0059] Continuing to refer to the preparation method in Example 1, the ultrasonic power and time were changed to obtain magnetically driven liquid metal micrometer robots of different particle sizes. Specifically, at an ultrasonic power of 100W, ultrasonic power was applied for 5 minutes, and a magnetically driven liquid metal micrometer robot with a particle size distribution of 3μm-30μm was obtained by screening with a magnet; at an ultrasonic power of 150W, ultrasonic power was applied for 10 minutes, and a magnetically driven liquid metal micrometer robot with a particle size distribution of 0.2μm-10μm was obtained by screening with a magnet; at a ultrasonic power of 200W, ultrasonic power was applied for 10 minutes, and a magnetically driven liquid metal micrometer robot with a particle size distribution of 0.1μm-4μm was obtained by screening with a magnet.

[0060] The magnetically driven liquid metal micro robot in this embodiment was tested by transmission electron microscopy and elemental analysis. The results are as follows: Figure 2 shown.

[0061] from Figure 2 It can be seen that the prepared magnetically driven liquid metal microrobot has a spherical structure. Elemental analysis shows that the liquid metal containing magnetic particles was successfully prepared.

[0062] The material prepared in this example without magnet screening was examined by scanning electron microscopy, and the results were as follows: Figure 3 shown.

[0063] from Figure 3 It can be seen that the surface of the prepared sample is very smooth and there are no iron nanoparticles on the surface.

[0064] Example 2

[0065] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0066] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0067] 2) Weigh 0.01 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0068] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0069] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0070] Example 3

[0071] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0072] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0073] 2) Weigh 0.015 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0074] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0075] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0076] Example 4

[0077] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0078] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of a 2 mol / L hydrochloric acid solution to obtain solution A.

[0079] 2) Weigh 0.005 g of 1 μm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the iron powder to obtain solution B.

[0080] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0081] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0082] Example 5

[0083] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0084] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0085] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0086] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 200 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0087] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.1μm-4μm.

[0088] Example 6

[0089] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0090] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0091] 2) Weigh 0.005 g of 100 nm Fe3O4 and add it to Solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain Solution B.

[0092] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0093] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0094] Example 7

[0095] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0096] 1) Gallium and indium were heated in a mass ratio of 3:1 to form a gallium-indium alloy. 0.05 g of the gallium-indium alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0097] 2) Weigh 0.005 g of 20 nm Fe3O4 and add it to Solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain Solution B.

[0098] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0099] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0100] Example 8

[0101] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0102] 1) Gallium:indium:tin in a mass ratio of 7:2:1 was heated to form a gallium-indium-tin alloy. 0.05 g of the gallium-indium-tin alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0103] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0104] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 150 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0105] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.2μm-10μm.

[0106] Example 9

[0107] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0108] 1) Gallium:indium:tin in a mass ratio of 7:2:1 was heated to form a gallium-indium-tin alloy. 0.05 g of the gallium-indium-tin alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0109] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0110] 3) Weigh 1 g of polyvinylpyrrolidone (95,000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 200 W for 10 min. Sieve with a magnet to obtain a magnetically driven liquid metal microrobot.

[0111] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.1μm-4μm.

[0112] Example 10

[0113] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0114] 1) Gallium:indium:tin in a mass ratio of 7:2:1 was heated to form a gallium-indium-tin alloy. 0.05 g of the gallium-indium-tin alloy was then weighed and added dropwise to 5 mL of 1 mol / L hydrochloric acid solution to obtain solution A.

[0115] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0116] 3) Weigh 1 g of polyvinylpyrrolidone (with an average molecular weight of 1,300,000) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Screen with a magnet to obtain a magnetically driven liquid metal microrobot.

[0117] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0118] Example 11

[0119] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0120] 1) Gallium and indium were heated at a mass ratio of 3:1 to form a gallium-indium-tin alloy. 0.05 g of the gallium-indium-tin alloy was then weighed and added dropwise to 5 mL of a 1 mol / L hydrochloric acid solution to obtain solution A.

[0121] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0122] 3) Weigh 1 g of polyvinyl alcohol (PVA) with an average molecular weight of 13,000-23,000 and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Screen with a magnet to obtain a magnetically driven liquid metal microrobot.

[0123] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0124] Example 12

[0125] A method for preparing a magnetically driven liquid metal micro-robot comprises the following steps:

[0126] 1) Gallium and indium were heated at a mass ratio of 3:1 to form a gallium-indium-tin alloy. 0.05 g of the gallium-indium-tin alloy was then weighed and added dropwise to 5 mL of a 1 mol / L hydrochloric acid solution to obtain solution A.

[0127] 2) Weigh 0.005 g of 100 nm iron powder and add it to solution A. Shake vigorously until the liquid metal is completely immersed in the solution to obtain solution B.

[0128] 3) Weigh 1 g of polyethylene glycol (4000 average molecular weight) and add it to 100 mL of deionized water. Stir for 12 h. Then, add hydrochloric acid to adjust the pH to 3 to obtain Solution C. Aspirate the magnetic liquid metal from Solution B with a rubber-tipped pipette and add it dropwise to Solution C. Ultrasonicate at 100 W for 10 min. Screen with a magnet to obtain a magnetically driven liquid metal microrobot.

[0129] After testing, the particle size distribution of the magnetically driven liquid metal micro-robot is 0.5μm-15μm.

[0130] Comparative Example 1

[0131] The preparation method of the magnetically driven liquid metal micro-robot in this comparative example is basically the same as that in Example 1, except that solution C does not contain polyvinyl pyrrolidone and is only a hydrochloric acid aqueous solution with a pH value of 3.

[0132] The magnetically driven liquid metal micro robot prepared in this comparative example was examined by scanning electron microscopy, and the results were as follows: Figure 4 shown.

[0133] from Figure 4 It can be seen that the magnetically driven liquid metal micro-robots prepared in the comparative example are aggregated together, and a single magnetically driven liquid metal micro-robot cannot be obtained.

[0134] Performance Testing

[0135] The magnetically driven liquid metal microrobots with different particle sizes (4 μm, 7 μm, 10 μm, and 15 μm) prepared in Example 1 were tested for movement speed under a magnetic field strength of 10 mT and a magnetic field frequency of 5 Hz. The results are as follows: Figure 5 shown.

[0136] from Figure 5 It can be seen from the figure that as the particle size of the magnetically driven liquid metal micro-robot increases, the movement speed of the magnetically driven liquid metal micro-robot becomes faster.

[0137] The magnetically driven liquid metal microrobots with different particle sizes (4 μm, 7 μm, 10 μm, and 15 μm) prepared in Example 1 were subjected to motion delay tests at a magnetic field strength of 10 mT and a magnetic field frequency of 5 Hz. The results are shown in FIG. Figure 6 shown.

[0138] from Figure 6 It can be seen that the larger the size of the magnetically driven liquid metal micro-robot, the faster its movement speed.

[0139] The magnetically driven liquid metal micro robot with a particle size of 15 μm prepared in Example 1 was tested to climb over an obstacle with a height of 40 μm under the action of a rolling magnetic field with a magnetic field strength of 10 mT and a magnetic field frequency of 5 Hz. The results are as follows: Figure 7 shown.

[0140] from Figure 7 It can be seen from the figure that the magnetically driven liquid metal micro-robot prepared by the present invention can climb over an obstacle with a height of 40 μm.

[0141] The magnetically driven liquid metal microrobot with a particle size of 15 μm prepared in Example 1 was tested to pass through a narrow channel of 10 μm under the combined action of a magnetic field strength of 10 mT, a magnetic field frequency of 5 Hz, and a simulated flow field velocity of 50 μL / min. The results are as follows: Figure 8 shown.

[0142] from Figure 8 It can be seen from the figure that the magnetically driven liquid metal micro-robot prepared by the present invention can pass through narrow channels.

[0143] The magnetically driven liquid metal microrobots with different particle sizes (4 μm, 7 μm, 10 μm, and 15 μm) prepared in Example 1 were tested for fluorescence staining of activated nerve cells under the action of magnetic force. The results are as follows: Figure 9 shown.

[0144] from Figure 9 It can be seen that the magnetically driven liquid metal microrobot prepared by the present invention can activate nerve cells.

[0145] In summary, the magnetically driven liquid metal microrobot prepared by the present invention has certain stability, controllable size, good biocompatibility, fast movement speed, controllable movement direction, and controllable movement mode. Therefore, it has broad application prospects in the field of wireless remote treatment of neurological diseases in various complex biological environments.

[0146] It should be noted that the above embodiments all belong to the same inventive concept, and the description of each embodiment has its own focus. For any details not described in individual embodiments, reference may be made to the description in other embodiments.

[0147] The above-described embodiments merely illustrate the implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A magnetically driven liquid metal micro robot, characterized in that: It includes a liquid metal skeleton, magnetic particles and a high molecular polymer layer; The magnetic particles are distributed inside the liquid metal skeleton, and the high molecular polymer layer is coated on the surface of the liquid metal skeleton.

2. The magnetically driven liquid metal micro-robot according to claim 1, characterized in that: The particle size of the magnetically driven liquid metal micro-robot is 0.1-200 μm.

3. The magnetically driven liquid metal micro-robot according to claim 1, characterized in that: The particle size of the magnetic particles is 10-1000 nm.

4. The magnetically driven liquid metal micro-robot according to claim 1, characterized in that: The liquid metal includes at least one of gallium, indium, tin and zinc.

5. The magnetically driven liquid metal micro-robot according to claim 1, characterized in that: The magnetic particles include at least one element of iron, cobalt, nickel, and gadolinium.

6. The magnetically driven liquid metal micro-robot according to claim 1, characterized in that: The high molecular polymer includes at least one of polypropylene, polydopamine, polypyrrole, polyaniline, polymethyl methacrylate, polystyrene, polyamide, polyacrylonitrile, polybutylene, polyethylene oxide, polyimide, polyethylene glycol, polyvinyl pyrrolidone, polyvinyl alcohol, polyacrylic acid and polyacrylamide.

7. A method for preparing a magnetically driven liquid metal micro-robot according to any one of claims 1 to 6, characterized in that: The steps include: Liquid metal and high molecular polymer acid solution are provided respectively; adding the liquid metal into an acid solution, and then adding magnetic particles to obtain magnetic liquid metal; The magnetic liquid metal is added to the high molecular polymer acid solution, and after ultrasonic treatment, a magnetically driven liquid metal micro robot is obtained.

8. The preparation method according to claim 7, characterized in that In the provided high molecular polymer acid solution, the acid solution comprises a hydrochloric acid solution.

9. The preparation method according to claim 7, characterized in that In the preparation process of the magnetic liquid metal, the acid solution includes a hydrochloric acid solution.

10. Use of the magnetically driven liquid metal microrobot according to any one of claims 1 to 6 in wireless remote treatment of neurological diseases.

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