Blood vessel robot based on electromagnetic double control and navigation system thereof

Abstract

The invention discloses a blood vessel robot based on electromagnetic double control and a navigation system of the blood vessel robot, and belongs to the technical field of blood vessel soft robots. Carboxylated bacterial cellulose is adopted as a substrate, nano Fe3O4 particles are doped, an electromagnetic double-control flexible driver is provided, and the electric and magnetic driving characteristics of the electromagnetic double-control flexible driver are studied. On the basis of carboxylated bacterial cellulose, the flexible driver with the electromagnetic double-control characteristic is prepared by doping nano Fe3O4 particles. Compared with an electroactive driver prepared by taking plant cellulose as a substrate, the carboxylated bacterial cellulose electromagnetic double-control driver has more excellent mechanical properties and electrochemical properties, more excellent electrical response characteristics and better degradability and biocompatibility. Meanwhile, through electromagnetic coupling control, the application possibility of the interventional flexible blood vessel robot serving as a blood vessel robot in the medical fields of drug release and the like is explored, and a new thought is provided for development and application of the interventional flexible blood vessel robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of vascular soft robots, and specifically relates to a vascular robot based on electromagnetic dual control and a navigation system thereof. Background Art

[0002] Soft robots have broad application prospects in the fields of bionic robots, industrial production, exploration and rescue, biomedical equipment, etc. due to their strong environmental adaptability, continuous deformation ability, unlimited degrees of freedom, etc. As one of the key technologies of soft robots, flexible actuators are of great significance to the development of soft robots, and therefore have received widespread attention in recent years. Flexible actuators are generally composed of responsive materials. Among them, cellulose-based ionic electroactive polymers are considered to be one of the ideal materials for preparing flexible actuators due to their advantages such as low driving voltage, high responsiveness, and tailorable shape.

[0003] However, from the perspective of the base material for preparing electroactive actuators, existing cellulose-based electroactive flexible actuators generally use plant cellulose as the base to prepare the ion exchange layer. Since plant cellulose is slightly inferior to bacterial cellulose in terms of purity and mechanical properties, the overall performance of the prepared actuator is difficult to meet actual needs. At the same time, existing cellulose-based electroactive actuators can only perform a single electrical bending response, cannot achieve complex functions, and are difficult to accurately control. Summary of the invention

[0004] The purpose of the present invention is to provide a vascular robot based on electromagnetic dual control and a navigation system thereof in order to solve the above-mentioned problems.

[0005] The technical solution adopted by the present invention is as follows: a vascular robot based on electromagnetic dual control, the vascular robot comprising: an electromagnetic dual-control flexible driver, a spiral structure, a magnetizing device, a vascular robot body, a navigation system and an auxiliary device;

[0006] The electromagnetic dual-control flexible actuator is based on carboxylated bacterial cellulose, ionic liquid and polyvinyl alcohol, doped with nano-Fe3O4 particles to form an ionic polymer membrane with electromagnetic dual-control characteristics;

[0007] The spiral structure is formed by winding a long strip of electromagnetic dual-control driver on a spiral groove mold and forming it by thermoplastic molding.

[0008] The magnetization device is composed of a cylindrical permanent magnet, a 3D printed hollow mold, and a glass slide;

[0009] The vascular robot body is a spiral electromagnetic dual-control driver;

[0010] The navigation system is responsible for controlling the operation of the entire system, including motor movement, magnetic field control, and data acquisition;

[0011] The auxiliary device comprises an electrode layer, an ionic liquid, deionized water, a rubber mold, a vacuum drying box and a Tesla meter.

[0012] In a preferred embodiment, the electromagnetic dual-control flexible actuator is composed of a middle ion exchange layer and electrode layers on both sides, wherein the ion exchange layer is based on carboxylated bacterial cellulose and is made by doping ionic liquid, polyvinyl alcohol, and nano-Fe3O4 particles, and the flexible electrode layer is made of a conductive polymer PEDOT:PSS.

[0013] In a preferred embodiment, the preparation method of the electromagnetic dual-control flexible actuator includes:

[0014] S1: First, take CBC dispersion, add ionic liquid, polyvinyl alcohol, nano-Fe3O4 particles, and deionized water, and stir for several hours to obtain a uniform CBC-IL-PVA-Fe3O4 dispersion;

[0015] S2: Then, the gas in the CBC-IL-PVA-Fe3O4 dispersion was evacuated in a vacuum drying oven, and then cast into a 9cm×12cm×1cm rubber mold, and dried in a vacuum drying oven at 55°C for 24 hours to obtain a CBC-IL-PVA-Fe3O4 ionic polymer membrane;

[0016] S3: Finally, the ionic polymer membrane was immersed in the PEDOT:PSS highly conductive electrode solution for 1 minute, so that the electrode solution was evenly adhered to both sides of the ionic polymer membrane. After being taken out and dried for 12 hours, it was cut into 35mm×6mm to obtain an electromagnetic dual-control actuator.

[0017] In a preferred embodiment, the method for preparing the electromagnetic dual-controlled vascular robot comprises:

[0018] First, prepare a long CBC-IL-PVA-Fe3O4 (0.70wt%) electromagnetic dual-control driver and wind the driver on a spiral mold with a pitch of 6mm.

[0019] Then, the actuator was placed in a drying oven at 60°C for 24 hours, and the long strip electromagnetic dual-control actuator was transformed into a spiral shape by a thermoplastic method to obtain a spiral electromagnetic dual-control actuator;

[0020] In order to make the electromagnetic dual-control pipeline robot stronger in magnetism, the size is: The cylindrical permanent magnet is used to magnetize it.

[0021] The magnetization device is made by 3D printing a hollow mold to place the spiral electromagnetic dual-control actuator.

[0022] A glass slide is placed on each side of the mold, and circular magnets are placed on both sides to form a uniform magnetic field space. The magnetic field strength of the magnetized space formed by the two cylindrical permanent magnets is measured by a Tesla meter to be 480mT. The electromagnetic dual-control pipeline robot is placed in the magnetic field space and magnetized for 24 hours to enhance the magnetism of the electromagnetic dual-control pipeline robot.

[0023] In a preferred embodiment, the dimensions of the spiral electromagnetic dual-control actuator are diameter D=5 mm, width W=4 mm, pitch P=6 mm, and thickness t=0.2 mm.

[0024] In a preferred embodiment, the overall size of the hollow mold is 50mm×35mm×8mm, and the size of the middle hollow is 40mm×10mm×8mm, which is used to place the spiral electromagnetic dual-control drive.

[0025] In a preferred embodiment, the navigation system includes: an X&Y motor motion control module, a magnetic field control module, a three-way tracking module, and an OLED display module.

[0026] In a preferred embodiment, the X&Y motor motion control module uses the timer output comparison function of the microcontroller to output PWM waves to control the speed of the motor, and uses the CH1 channel of TIM2 and the CH1 channel of TIM4, corresponding to the PA0 and PB6 pins respectively, and controls the motor direction through the PA1 and PB5 pins.

[0027] In a preferred embodiment, the magnetic field control module uses the PA9 pin multiplexing function TIM1_CH2 to output an adjustable PWM wave to control the electromagnet, and the MCP4725 module outputs an adjustable voltage to control the on and off power of the electromagnetic dual-control driver;

[0028] The OLED display module is based on I2C communication and can be implemented by hardware or software methods. To facilitate program transplantation, the I2C communication is implemented by software simulation. First, the microcontroller sends a start signal, followed by 8-bit data (7-bit slave device address + 1-bit read / write bit), the slave device sends a response model, and the master device starts sending data after receiving the response signal until the transmission is completed, and finally sends a termination signal to end the communication.

[0029] In a preferred embodiment, the three-way tracking module transmits the collected data to the single-chip microcomputer through three pins (PA5&PA6&PA7), and the single-chip microcomputer performs logical judgment on the collected data, and further controls the motor movement of the X&Y axis to realize the tracking function. At the beginning, the X axis rotates forward, and the electromagnet moves along the track. When the track begins to deviate to the Y+ or Y- position, the infrared tracking module detects the change and drives the Y axis motor to move to the deviated position.

[0030] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0031] 1. In the present invention, carboxylated bacterial cellulose is used as a substrate, and an electromagnetic dual-control flexible actuator is proposed by doping nano-Fe3O4 particles, and its electrical and magnetic driving characteristics are studied. Based on the actuator, a spiral electromagnetic dual-control actuator is prepared, and a navigation system is built. Through electromagnetic coupling control, its application possibility as a vascular robot in the fields of drug release and vascular stents is explored. Based on carboxylated bacterial cellulose, the present invention prepares a flexible actuator with electromagnetic dual-control characteristics by doping nano-Fe3O4 particles. Compared with the electroactive actuator prepared with plant cellulose as the substrate, the carboxylated bacterial cellulose electromagnetic dual-control actuator has better mechanical and electrochemical properties, better electrical response characteristics, and better degradability and biocompatibility.

[0032] 2. In the present invention, the proposed electromagnetic dual-control actuator can produce greater bending deformation and stress output under the coordinated control of electric field and magnetic field. By spiraling the actuator, the electromagnetic dual-control actuator can achieve telescopic-expansion deformation under electrical stimulation, and move in a directional manner under the action of the magnetic field, thereby meeting more complex application scenarios. Based on the driving characteristics of the spiral electromagnetic dual-control actuator, the present invention builds a magnetic navigation platform, and explores its application possibility as a vascular robot in medical fields such as drug release through electromagnetic coupling control, providing new ideas for the development and application of interventional flexible vascular robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the principle of the vascular robot preparation process of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the vascular robot in the present invention;

[0035] Figure 3 It is a schematic diagram of the force of the spiral electromagnetic dual-control driver in the present invention;

[0036] Figure 4 It is a schematic diagram of the framework of the magnetic navigation system in the present invention;

[0037] Figure 5The diagram is a diagram of the electric drive mechanism of the electromagnetic dual-control actuator of the present invention;

[0038] Figure 6 This is a diagram of the magnetic drive mechanism of the electromagnetic dual-control actuator in the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] Example:

[0041] Reference Figure 1-6 A vascular robot based on electromagnetic dual control, the vascular robot includes: an electromagnetic dual control flexible driver, a spiral structure, a magnetizing device, a vascular robot body, a navigation system and an auxiliary device,

[0042] The electromagnetic dual-control flexible actuator is based on carboxylated bacterial cellulose, ionic liquid and polyvinyl alcohol, doped with nano-Fe3O4 particles to form an ionic polymer membrane with electromagnetic dual-control properties.

[0043] The spiral structure is formed by winding a long electromagnetic dual-control driver on a spiral groove mold and forming it by thermoplastic molding.

[0044] The magnetization device consists of a cylindrical permanent magnet, a 3D printed hollow mold, and a glass slide;

[0045] The main body of the vascular robot is a spiral electromagnetic dual-control actuator;

[0046] The navigation system is responsible for controlling the operation of the entire system, including motor movement, magnetic field control, and data acquisition;

[0047] The auxiliary devices include electrode layers, ionic liquid, deionized water, rubber molds, vacuum drying ovens and Tesla meters.

[0048] The electromagnetic dual-controlled flexible actuator consists of an ion exchange layer in the middle and electrode layers on both sides. The ion exchange layer is based on carboxylated bacterial cellulose and is made by doping ionic liquid, polyvinyl alcohol, and nano-Fe3O4 particles. The flexible electrode layer is made of conductive polymer PEDOT:PSS.

[0049] The preparation method of the electromagnetic dual-control flexible actuator includes:

[0050] S1: First, take CBC dispersion, add ionic liquid, polyvinyl alcohol, nano-Fe3O4 particles, and deionized water, and stir for several hours to obtain a uniform CBC-IL-PVA-Fe3O4 dispersion;

[0051] S2: Then, the gas in the CBC-IL-PVA-Fe3O4 dispersion was evacuated in a vacuum drying oven, and then cast into a 9cm×12cm×1cm rubber mold, and dried in a vacuum drying oven at 55°C for 24 hours to obtain a CBC-IL-PVA-Fe3O4 ionic polymer membrane;

[0052] S3: Finally, the ionic polymer membrane was immersed in the PEDOT:PSS highly conductive electrode solution for 1 minute, so that the electrode solution was evenly adhered to both sides of the ionic polymer membrane. After being taken out and dried for 12 hours, it was cut into 35mm×6mm to obtain an electromagnetic dual-control actuator.

[0053] The preparation method of the electromagnetic dual-controlled vascular robot includes:

[0054] First, prepare a long CBC-IL-PVA-Fe3O4 (0.70wt%) electromagnetic dual-control driver and wind the driver on a spiral mold with a pitch of 6mm.

[0055] Then, the actuator was placed in a drying oven at 60°C for 24 hours, and the long strip electromagnetic dual-control actuator was transformed into a spiral shape by a thermoplastic method to obtain a spiral electromagnetic dual-control actuator;

[0056] In order to make the electromagnetic dual-control pipeline robot stronger in magnetism, a cylindrical permanent magnet (size: ) is magnetized,

[0057] The magnetization device first 3D prints a hollow mold to place the spiral electromagnetic dual-control actuator.

[0058] A glass slide is placed on each side of the mold, and circular magnets are placed on both sides to form a uniform magnetic field space. The magnetic field strength of the magnetized space formed by the two cylindrical permanent magnets is measured by a Tesla meter to be 480mT. The electromagnetic dual-control pipeline robot is placed in the magnetic field space and magnetized for 24 hours to enhance the magnetism of the electromagnetic dual-control pipeline robot.

[0059] The spiral electromagnetic dual-control vascular robot can achieve complex telescopic-expansion motion under the drive of electric field, and can also achieve directional movement under the drive of magnetic field. Figure 4 As shown, through electrical and magnetic coupling control, the application of this spiral electromagnetic dual-control flexible actuator in the field of vascular stents and targeted drug release is explored.

[0060] According to the results of motion and force analysis, the contraction and expansion of the spiral electromagnetic dual-control actuator is mainly caused by its own torsion. Figure 3(a) is a schematic diagram of the force during the deformation of the spiral electromagnetic dual-control actuator. In order to simplify the force generated by internal ion migration and swelling during the deformation of the spiral actuator, it can be simplified to a torsion force M acting on the whole, as shown in Figure 3 (b) as shown.

[0061] In summary: Electric drive causes the robot to expand and deform, while magnetic drive causes the robot to move. Taking drug release as an example, when used: the robot carries the drug into the stomach, and gradually moves to the lesion under the control of the magnetic field, and the electric drive causes deformation to release the drug. The principles of electric drive and magnetic drive are as follows.

[0062] Figure 5 Demonstration of the electric driving mechanism of the electromagnetic dual-control actuator: Similar to ordinary ionic electroactive actuators, in the non-powered state, anions and cations are evenly dispersed in the ionic polymer membrane. When voltage is applied to the electrode layers on both sides of the carboxylated bacterial cellulose electromagnetic dual-control actuator, the internal anions and cations will undergo a directional migration under the action of the electric field, in which anions migrate to the positive electrode and cations migrate to the negative electrode, and gather at the junction of the ionic polymer membrane and the electrode layer respectively. Due to the volume difference between anions and cations, the negative electrode will expand and the positive electrode will shrink, causing the carboxylated bacterial cellulose electromagnetic dual-control actuator to bend toward the positive electrode. By changing the type, size and frequency of the input voltage, the carboxylated bacterial cellulose electromagnetic dual-control actuator can be controlled to exhibit different forms of movement.

[0063] Figure 6 The magnetic driving mechanism of the electromagnetic dual-control actuator is demonstrated: magnetic nanoparticles are doped in the process of preparing the carboxylated bacterial cellulose electromagnetic dual-control actuator, and the magnetic nanoparticles are uniformly embedded in the ionic polymer membrane of the actuator. Since the magnetic nanoparticles themselves have good ferromagnetism, the electromagnetic dual-control actuator itself has uniform ferromagnetism. Permanent magnets can generate gradient magnetic fields in any direction in space. Driven by the external gradient magnetic field, the electromagnetic dual-control actuator can produce bending deformation.

[0064] The overall structural framework of the magnetic navigation system based on STM32 consists of a two-dimensional mobile platform, a simulated pipeline environment, and a magnetic field generating device. The two-dimensional mobile platform consists of a stepper motor, a guide rail, etc., which can realize movement in the X&Y directions. The working range of the two-dimensional mobile platform is 300mm×150mm. The electromagnet is located on the moving slide of the Y guide rail and can reach any position within the working range under the drive of the motor. The simulated pipeline environment uses a transparent flexible rubber hose with an inner diameter of 6mm. A thin black tape is attached to the outside of the pipeline for tracking. The entire pipeline is placed on an acrylic board.

[0065] The magnetic navigation system software uses Keil uVision5 to perform bare-metal development on STM32F103C8T6. KeiluVision5 is an embedded system integrated development environment, especially suitable for embedded system design and programming of ARM Cortex-M processor series. It supports multiple programming languages ​​and has a powerful debugging environment. It has been widely used in automotive, industrial control, consumer electronics and communication equipment.

[0066] The overall size of the hollow mold is 50mm×35mm×8mm, and the size of the hollow in the middle is 40mm×10mm×8mm, which is used to place the spiral electromagnetic dual-control driver.

[0067] The navigation system includes: X&Y motor motion control module, magnetic field control module, three-way tracking module, and OLED display module.

[0068] The X&Y motor motion control module uses the timer output comparison function of the microcontroller to output PWM waves to control the speed of the motor. It uses the CH1 channel of TIM2 and the CH1 channel of TIM4, which correspond to the PA0 and PB6 pins respectively, and controls the motor direction through the PA1 and PB5 pins.

[0069] The magnetic field control module uses the PA9 pin multiplexing function TIM1_CH2 to output an adjustable PWM wave to control the electromagnet, and the MCP4725 module outputs an adjustable voltage to control the on and off power of the electromagnetic dual-control driver;

[0070] The OLED display module is based on I2C communication and can be implemented by hardware or software. To facilitate program transplantation, the I2C communication is implemented by software simulation. First, the microcontroller sends a start signal, followed by 8-bit data (7-bit slave device address + 1-bit read / write bit). The slave device sends a response model. After receiving the response signal, the master device starts to send data until the transmission is completed, and finally sends a stop signal to end the communication.

[0071] The three-way tracking module transmits the collected data to the microcontroller through three pins (PA5&PA6&PA7). The microcontroller makes logical judgments on the collected data and further controls the motor movement of the X&Y axis to achieve the tracking function. At the beginning, the X axis rotates forward and the electromagnet moves along the track. When the track begins to deviate to the Y+ or Y- position, the infrared tracking module detects the change and drives the Y axis motor to move to the deviated position.

[0072] From the above, it can be known that: in the present invention, the present invention adopts carboxylated bacterial cellulose as a substrate, and proposes an electromagnetic dual-control flexible actuator by doping nano-Fe3O4 particles, and studies its electrical and magnetic driving characteristics. Based on the actuator, a spiral electromagnetic dual-control actuator is prepared, and a navigation system is built. Through electromagnetic coupling control, its application possibility as a vascular robot in the fields of drug release, vascular stents, etc. is explored. Based on carboxylated bacterial cellulose, the present invention prepares a flexible actuator with electromagnetic dual-control characteristics by doping nano-Fe3O4 particles. Compared with the electroactive actuator prepared with plant cellulose as the substrate, the carboxylated bacterial cellulose electromagnetic dual-control actuator has better mechanical and electrochemical properties, better electrical response characteristics, and better degradability and biocompatibility.

[0073] In the present invention, the proposed electromagnetic dual-control driver can produce greater bending deformation and stress output under the coordinated control of electric field and magnetic field. By spiraling the driver, the electromagnetic dual-control driver can achieve telescopic-expansion deformation under electrical stimulation, and at the same time move in a directional manner under the action of the magnetic field, thereby meeting more complex application scenarios. Based on the driving characteristics of the spiral electromagnetic dual-control driver, the present invention builds a magnetic navigation platform, and explores its application possibility as a vascular robot in medical fields such as drug release through electromagnetic coupling control, providing new ideas for the development and application of interventional flexible vascular robots.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0075] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vascular robot based on electromagnetic dual control, characterized in that: The vascular robot comprises: an electromagnetic dual-control flexible driver, a spiral structure, a magnetizing device, a vascular robot body, a navigation system and an auxiliary device; The electromagnetic dual-control flexible actuator is based on carboxylated bacterial cellulose, ionic liquid and polyvinyl alcohol, doped with nano-Fe3O4 particles to form an ionic polymer membrane with electromagnetic dual-control characteristics; The spiral structure is formed by winding a long strip of electromagnetic dual-control driver on a spiral groove mold and forming it by thermoplastic molding. The magnetization device is composed of a cylindrical permanent magnet, a 3D printed hollow mold, and a glass slide; The vascular robot body is a spiral electromagnetic dual-control driver; The navigation system is responsible for controlling the operation of the entire system, including motor movement, magnetic field control, and data acquisition; The auxiliary device comprises an electrode layer, an ionic liquid, deionized water, a rubber mold, a vacuum drying box and a Tesla meter.

2. The electromagnetic dual-control vascular robot according to claim 1, characterized in that: The electromagnetic dual-control flexible actuator is composed of an ion exchange layer in the middle and electrode layers on both sides, wherein the ion exchange layer is based on carboxylated bacterial cellulose and is made by doping ionic liquid, polyvinyl alcohol, and nano-Fe3O4 particles, and the flexible electrode layer is made of conductive polymer PEDOT:PSS.

3. The electromagnetic dual-control vascular robot according to claim 1, characterized in that: The preparation method of the electromagnetic dual-control flexible actuator comprises: S1: First, take CBC dispersion, add ionic liquid, polyvinyl alcohol, nano-Fe3O4 particles, and deionized water, and stir for several hours to obtain a uniform CBC-IL-PVA-Fe3O4 dispersion; S2: Then, the gas in the CBC-IL-PVA-Fe3O4 dispersion was evacuated in a vacuum drying oven, and then cast into a 9cm×12cm×1cm rubber mold, and dried in a vacuum drying oven at 55°C for 24 hours to obtain a CBC-IL-PVA-Fe3O4 ionic polymer membrane; S3: Finally, the ionic polymer membrane was immersed in the PEDOT:PSS highly conductive electrode solution for 1 minute, so that the electrode solution was evenly adhered to both sides of the ionic polymer membrane. After being taken out and dried for 12 hours, it was cut into 35mm×6mm to obtain an electromagnetic dual-control actuator.

4. The electromagnetic dual-control vascular robot according to claim 1, characterized in that: The preparation method of the electromagnetic dual-controlled vascular robot comprises: First, prepare a long CBC-IL-PVA-Fe3O4 electromagnetic dual-control driver and wind the driver around a spiral mold with a pitch of 6 mm. Then, the actuator was placed in a drying oven at 60°C for 24 hours, and the long strip electromagnetic dual-control actuator was transformed into a spiral shape by a thermoplastic method to obtain a spiral electromagnetic dual-control actuator; In order to make the electromagnetic dual-control pipeline robot itself more magnetic, the size is: The cylindrical permanent magnet is used to magnetize it. The magnetization device uses 3D printing to create a hollow mold for placing the spiral electromagnetic dual-control drive; A glass slide is placed on each side of the mold, and circular magnets are placed on both sides to form a uniform magnetic field space. The magnetic field strength of the magnetized space formed by the two cylindrical permanent magnets is measured by a Tesla meter to be 480mT. The electromagnetic dual-control pipeline robot is placed in the magnetic field space and magnetized for 24 hours to enhance the magnetism of the electromagnetic dual-control pipeline robot.

5. The electromagnetic dual-control vascular robot according to claim 4, characterized in that: The dimensions of the spiral electromagnetic dual-control actuator are diameter D=5 mm, width W=4 mm, pitch P=6 mm, and thickness t=0.2 mm.

6. The electromagnetic dual-control vascular robot according to claim 4, characterized in that: The overall size of the hollow mold is 50mm×35mm×8mm, and the size of the middle hollow is 40mm×10mm×8mm, which is used to place the spiral electromagnetic dual-control driver.

7. The navigation system of a vascular robot based on electromagnetic dual control as claimed in claim 1, characterized in that: The navigation system includes: an X&Y motor motion control module, a magnetic field control module, a three-way tracking module, and an OLED display module.

8. The navigation system of a vascular robot based on electromagnetic dual control as claimed in claim 7, characterized in that: The X&Y motor motion control module uses the timer output comparison function of the single-chip microcomputer to output PWM waves to control the speed of the motor, uses the CH1 channel of TIM2 and the CH1 channel of TIM4, corresponding to the PA0 and PB6 pins respectively, and controls the motor direction through the PA1 and PB5 pins.

9. The navigation system of a vascular robot based on electromagnetic dual control as claimed in claim 7, characterized in that: The magnetic field control module uses the PA9 pin multiplexing function TIM1_CH2 to output an adjustable PWM wave to control the electromagnet, and the MCP4725 module outputs an adjustable voltage to control the on and off power of the electromagnetic dual-control driver; The OLED display module is based on I2C communication and is implemented by hardware or software methods. In order to facilitate program transplantation, the I2C communication is implemented by software simulation method. First, the microcontroller sends a start signal, followed by 8-bit data. The slave device sends a response signal. After the master device receives the response signal, it starts to send data until the transmission is completed, and finally sends a stop signal to end the communication.

10. The navigation system of a vascular robot based on electromagnetic dual control as claimed in claim 7, characterized in that: The three-way tracking module transmits the collected data to the single-chip microcomputer through three pins. The single-chip microcomputer performs logical judgment on the collected data and further controls the motor movement of the X&Y axes to realize the tracking function. At the beginning, the X-axis rotates forward and the electromagnet moves along the track. When the track begins to deviate to the Y+ or Y- position, the infrared tracking module detects the change and drives the Y-axis motor to move to the deviated position.

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