Micro-nano robot and driving method of micro-nano robot
The micro-nano robot with a cylindrical spiral body and conical surfaces, combined with a hyaluronidase layer and three-dimensional magnetic field control, addresses the instability of microrobots, allowing stable and precise drug delivery and sampling.
Patent Information
- Application Number
- CN202310754459.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-25
- Publication Date
- 2024-12-27
AI Technical Summary
Existing microrobots experience uncontrollable swings and severe lateral drift at gas-liquid and solid-liquid interfaces, leading to unstable movement and inaccurate positioning, which hinders effective drug delivery.
A micro-nano robot with a cylindrical spiral body and conical surfaces, conical surfaces, and the technical efficacy of the technical solution is to use a cylindrical spiral body with conical surfaces and a hyaluronidase layer to stabilize movement in low Reynolds number fluids, and a three-dimensional rotating magnetic field for precise control.
The micro-nano robot achieves stable movement in low Reynolds number fluids, enabling quick and accurate targeting of lesions for drug delivery and sampling, with enhanced penetration through cell membranes.
Smart Images
Figure CN119184759A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of biomedicine, and in particular, to a micro-nano robot and a driving method of the micro-nano robot. Background Art
[0002] In biomedicine, microrobots can be driven and positioned inside the human body to help doctors diagnose and treat diseases. However, existing microrobots experience uncontrollable swings and severe lateral drift when moving at the gas-liquid interface, inside a liquid, or at the solid-liquid interface. This causes the microrobot to move unstable and cannot accurately move to the target position, resulting in low efficiency of drug delivery by the microrobot. Summary of the invention
[0003] The purpose of the present disclosure is to provide a micro-nano robot and a driving method for the micro-nano robot, which can move to a target position quickly and accurately, and the movement process is stable.
[0004] In order to achieve the above objectives, in a first aspect, the present disclosure provides a micro-nano robot, comprising:
[0005] A cylindrical spiral body, wherein two bottom surfaces of the cylindrical spiral body are conical surfaces.
[0006] Optionally, a hyaluronidase layer is adsorbed on the surface of the cylindrical spiral body, and the thickness of the hyaluronidase layer is 200 nm.
[0007] Optionally, a first chip removal groove is provided on the surface of the cylindrical spiral body;
[0008] The two bottom surfaces of the cylindrical spiral body are provided with second chip removal grooves.
[0009] Optionally, the groove type of the first chip removal groove is the same as or different from the groove type of the second chip removal groove;
[0010] The groove type includes at least one of a U-shaped groove, a V-shaped groove and a straight groove.
[0011] Optionally, the material of the cylindrical spiral body includes resin.
[0012] Optionally, a nickel layer is sputtered on the surface of the cylindrical spiral body, and the thickness of the nickel layer is 100 nm.
[0013] Optionally, the material of the cylindrical spiral body also includes ferrosoferric oxide.
[0014] In a second aspect, the present disclosure provides a driving method for a micro-nano robot, which is used to drive the micro-nano robot described in the first aspect, and the driving method comprises:
[0015] The movement path of the micro-nano robot is controlled by a three-dimensional rotating magnetic field, and the surface of the micro-nano robot is loaded with drugs.
[0016] Optionally, the driving method further includes:
[0017] Obtaining the components carried by the micro-nano robot;
[0018] The components are analyzed by Raman detection technology, analysis results are generated, and the analysis results are displayed.
[0019] Optionally, the three-dimensional rotating magnetic field is composed of three pairs of Helmholtz coils, and each pair of Helmholtz coils includes two Helmholtz coils whose central axes coincide with each other;
[0020] The central axis of the first pair of Helmholtz coils is perpendicular to the central axis of the second pair of Helmholtz coils and the central axis of the third pair of Helmholtz coils respectively, and the central axis of the second pair of Helmholtz coils is perpendicular to the central axis of the third pair of Helmholtz coils.
[0021] Through the above technical solution, the micro-nano robot includes a cylindrical spiral body, which can change the rotation in the plane into forward movement, thereby achieving stable movement in a low Reynolds number fluid environment, and the two ends are conical surfaces, which reduces the resistance of the micro-nano robot to penetrate the cell membrane and further improves the stability of the micro-nano robot during movement.
[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:
[0024] Figure 1 is a schematic diagram of a micro-nano robot according to an exemplary embodiment.
[0025] Figure 2 The figure is a schematic diagram showing the position of a chip groove of a micro-nano robot according to an exemplary embodiment.
[0026] Figure 3 It is a schematic diagram of the surface of a micro-nano robot according to an exemplary embodiment.
[0027] Figure 4 is another surface schematic diagram of a micro-nano robot according to an exemplary embodiment.
[0028] Figure 5The figure is a flow chart of a driving method of a micro-nano robot according to an exemplary embodiment.
[0029] Figure 6 It is a schematic diagram of a three-dimensional rotating magnetic field of a micro-nano robot according to an exemplary embodiment. DETAILED DESCRIPTION
[0030] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0031] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.
[0032] As mentioned in the background art, the microrobot moves unsteadily when moving at a gas-liquid interface, inside a liquid, or at a solid-liquid interface, and cannot accurately move to a target position.
[0033] In view of this, the present disclosure provides a micro-nano robot and a driving method of the micro-nano robot, which can stably move in a low Rayleigh number fluid environment.
[0034] Figure 1 is a schematic diagram of a micro-nano robot according to an exemplary embodiment, see Figure 1 , micro-nano robots include:
[0035] The cylindrical spiral body 10 has two bottom surfaces 20 which are conical surfaces.
[0036] For example, the micro-nano robot is delivered into a living organism through a microprobe, and moves toward the lesion through the capillaries in the living organism to achieve minimally invasive treatment of the living organism. Because the diameter of the capillaries in the living organism is 4 to 6 μm and the diameter of the microprobe is 3 to 7 μm, in order to ensure that the micro-nano robot can cooperate with the microprobe to be delivered into the living organism, and move toward the lesion through the capillaries of the living organism to achieve minimally invasive treatment of the living organism, the maximum diameter of the micro-nano robot is 3 μm.
[0037] For example, refer to Figure 1 The height H of the micro-nano robot is 10μm, the maximum diameter D=3μm, the minimum diameter d=1μm, the pitch P=5μm, the lead S=10μm, and the number of spiral turns n=1.
[0038] For example, the spiral structure is an ideal transport model in a low Reynolds number fluid environment. The body of the micro-nano robot adopts a cylindrical spiral shape, which can convert the rotational motion in the plane into forward motion, thereby realizing the stable motion of the micro-nano robot in a low Reynolds number fluid environment. The spiral structure is also beneficial to improving the structural strength of the robot.
[0039] For example, both ends of the body of the micro-nano robot are conical surfaces, which reduces the resistance of the micro-nano robot to penetrate the cell membrane. In the process of releasing drugs to the lesion through the micro-nano robot, the micro-nano robot can more easily penetrate the cell membrane to reach the lesion and release the drug.
[0040] The micro-nano robot disclosed in the present invention has a cylindrical spiral shape with conical surfaces at both ends. It can move stably in a low Rayleigh number fluid environment and can quickly penetrate the cell membrane to reach the lesion.
[0041] In order to facilitate those skilled in the art to better understand the micro-nano robot provided by the present disclosure, the materials and structure of the micro-nano robot are described in detail below.
[0042] In one possible embodiment, see Figure 2 , a first chip removal groove 30 is provided on the surface of the cylindrical spiral body 10;
[0043] The two bottom surfaces 20 of the cylindrical spiral body 10 are provided with second chip removal grooves 40 .
[0044] For example, when the micro-nano robot is running in a low Reynolds number fluid environment, the first chip groove and the second chip groove locally sample the environment that the micro-nano robot is in. For example, when the micro-nano robot is used to detect human lesions, the first chip groove and the second chip groove on the micro-nano robot sample cells at the lesion, so that the doctor can analyze the components sampled by the micro-nano robot to determine the condition of the lesion.
[0045] In a feasible embodiment, the groove type of the first chip flute 30 is the same as or different from the groove type of the second chip flute 40;
[0046] The groove type includes at least one of a U-shaped groove, a V-shaped groove and a straight groove.
[0047] For example, the groove types may also include other grooves besides U-shaped grooves, V-shaped grooves and straight grooves. Different groove types may collect components of the environment in which the micro-nano robot is located during the operation of the micro-nano robot. For example, when the micro-nano robot penetrates the cell membrane, the first chip groove and the second chip groove collect components of the cell membrane.
[0048] For example, the first chip groove and the second chip groove are both U-shaped grooves, or the first chip groove and the second chip groove are both V-shaped grooves, or the first chip groove is a U-shaped groove and the second chip groove is a V-shaped groove, or the first chip groove is a V-shaped groove and the second chip groove is a U-shaped groove. The types of the first chip groove and the second chip groove are not specifically limited in this disclosure.
[0049] In one possible embodiment, see Figure 3 or Figure 4 A hyaluronidase layer 50 is adsorbed on the surface of the cylindrical spiral body, and the thickness of the hyaluronidase layer 50 is 200 nm.
[0050] For example, in the process of releasing drugs using micro-nano robots, the hyaluronidase layer on the surface of the micro-nano robot softens the cell membrane and extracellular matrix, allowing the micro-nano robot to quickly penetrate the extracellular matrix and cell membrane, deliver drugs into tumor cells, and then disintegrate tumor cells from the inside, achieving targeted treatment, shortening the treatment time, and improving the efficiency of targeted treatment using micro-nano robots.
[0051] In the present disclosure, the inventors, inspired by the fertilization process, discovered that sperm releases hyaluronidase when entering the egg cell, which softens the egg cell membrane and thus facilitates the entry of sperm. Therefore, a hyaluronidase layer is adsorbed on the surface of the micro-nano robot. When the micro-nano robot penetrates the cell, the hyaluronidase layer adsorbed on the surface of the micro-nano robot softens the extracellular matrix and cell membrane, further reducing the resistance of the micro-nano robot to penetrate the cell membrane.
[0052] In one possible embodiment, see Figure 3 or Figure 4 , the material of the cylindrical spiral body 10 includes tree 60.
[0053] For example, the relative molecular weight of resin is usually high, and it is an organic substance that is solid, medium solid, pseudo solid, or sometimes liquid at room temperature. It has a softening or melting temperature range, tends to flow under external force, is generally insoluble in water, and can be dissolved in organic solvents.
[0054] In the present disclosure, resin is selected as the material of the micro-nano robot based on factors such as the strength, quality, and shape complexity of the micro-nano robot, thereby ensuring that the quality of the micro-nano robot meets medical needs.
[0055] In one possible embodiment, see Figure 3 A nickel layer 70 is sputtered on the surface of the cylindrical spiral body 10, and the thickness of the nickel layer 70 is 100 nm.
[0056] For example, the ferromagnetic nickel layer is metallized on the micro-nano robot by magnetron sputtering technology, so as to form a nickel layer on the surface of the micro-nano robot.
[0057] The present invention sputters a nickel layer on the surface of the micro-nano robot to make the micro-nano robot magnetic, so as to control the micro-nano robot to achieve high-precision complex movement in an ex vivo blood vessel or a living body through a magnetic field.
[0058] In one possible embodiment, see Figure 4 The material of the cylindrical spiral body 10 also includes ferrosoferric oxide 80.
[0059] For example, ferrosoferric oxide 80 is added to resin 60, and then the resin containing ferrosoferric oxide is constructed into a micro-nano robot, so that the micro-nano robot has magnetism, thereby controlling the micro-nano robot through a magnetic field to achieve high-precision complex movements in an ex vivo blood vessel or a living body.
[0060] For example, the micro-nano robot can be constructed as follows:
[0061] a. 3D modeling:
[0062] According to Figure 2 The features of the micro-nano robot shown are: front-to-back symmetry, an overall cylindrical spiral shape, conical surfaces at both ends, a first chip groove on the surface, and second chip grooves on the two bottom surfaces. A three-dimensional model of the micro-nano robot is established using three-dimensional modeling software, which may include Solidworks, 3dmax, etc.
[0063] b. Laser direct writing printing:
[0064] Resin is selected as the material of the micro-nano robot, and the shape of the micro-nano robot is printed out according to the three-dimensional model using laser direct writing technology. Among them, laser direct writing technology can print micro-robots with nanometer level and complex shapes, and laser direct writing technology has good reproducibility and uniformity.
[0065] c. Magnetron sputtering:
[0066] The body of the micro-nano robot is metallized with a ferromagnetic nickel layer by magnetron sputtering.
[0067] d. Surface modification:
[0068] A hyaluronidase layer is adsorbed on the surface of the micro-nano robot to obtain a constructed micro-nano robot.
[0069] For example, the micro-nano robot can also be constructed in the following ways:
[0070] a. 3D modeling:
[0071] According to Figure 2The features of the micro-nano robot shown are: front-to-back symmetry, an overall cylindrical spiral shape, conical surfaces at both ends, a first chip groove on the surface, and second chip grooves on the two bottom surfaces. A three-dimensional model of the micro-nano robot is established using three-dimensional modeling software, which may include Solidworks, 3dmax, etc.
[0072] e. Laser direct printing:
[0073] Resin with ferroferric oxide was selected as the material of the micro-nano robot, and the shape of the micro-nano robot was printed out according to the three-dimensional model using laser direct writing technology. Among them, laser direct writing technology can print micro-robots with nanometer level and complex shapes, and laser direct writing technology has good reproducibility and uniformity.
[0074] d. Surface modification:
[0075] A hyaluronidase layer is adsorbed on the surface of the micro-nano robot to obtain a constructed micro-nano robot.
[0076] The micro-nano robot provided by the present disclosure can move stably in a low Rayleigh number fluid environment, can quickly penetrate the cell membrane to reach the lesion to release drugs, sample the components at the lesion, and move along complex paths under the control of a magnetic field.
[0077] Based on the same inventive concept, the present disclosure also provides a driving method for a micro-nano robot, for driving the micro-nano robot, see Figure 5 , the driving method may include:
[0078] In step S110, the movement path of the micro-nano robot is controlled by a three-dimensional rotating magnetic field, and the surface of the micro-nano robot is loaded with drugs.
[0079] For example, a drug is loaded on the surface of the micro-nano robot, and the drug is a specific drug targeting the lesion.
[0080] For example, the drug loading method includes: after gold spraying the surface of the micro-nano robot, the micro-nano robot is placed in a drug solution of a specific drug, and the drug particles in the drug solution are adsorbed to the surface of the micro-nano robot to achieve drug loading.
[0081] For example, a micro-nano robot loaded with a specific drug is delivered into a living organism with a lesion via a microprobe.
[0082] For example, the movement direction of the micro-nano robot is controlled by controlling the phase of each pair of Helmholtz coils.
[0083] For example, a three-dimensional rotating magnetic field is used to effectively manipulate the micro-nano robot in three-dimensional space, so that the micro-nano robot reaches the lesion of a living organism and releases specific drugs. The three-dimensional rotating magnetic field is then used to control the micro-nano robot to return along the original path after releasing the specific drugs, and then the drugs are taken out by a microprobe.
[0084] For example, a micro-nano robot is controlled by a three-dimensional rotating magnetic field to enter the lesion along the blood vessels of a living organism. The micro-nano robot softens and passes through the extracellular matrix and cell membrane to release drugs. The micro-nano robot is then controlled by the three-dimensional rotating magnetic field to return to the original path after releasing the drugs, so that the micro-nano robot can be removed. Targeted treatment can be achieved by controlling the micro-nano robot through a three-dimensional rotating magnetic field.
[0085] For example, the micro-nano robot can also be introduced into ultrapure water or ex vivo blood vessels through a microprobe as needed to observe the micro-nano robot or analyze the components attached to its surface.
[0086] In the present disclosure, a three-dimensional rotating magnetic field is used to magnetically propel the micro-nano robot, i.e., magnetic drive, so as to control the movement path of the micro-nano robot. Magnetic drive avoids harmful and limited fluid environments, and because the magnetic field can penetrate biological tissues, the magnetically driven micro-nano robot is easy to apply to living organisms, thereby facilitating the diagnosis and treatment of lesions in living organisms. Moreover, magnetic drive can achieve high-precision manipulation in three-dimensional space, and can be better applied to living organisms, so that the micro-nano robot can quickly reach the lesions in the living organisms.
[0087] In a feasible embodiment, the driving method may further include:
[0088] Obtain the ingredients carried by the micro-nano robot;
[0089] The components are analyzed by Raman detection technology, and the analysis results are generated and displayed.
[0090] For example, the components in the chip groove of the micro-nano robot returning from the lesion are obtained, and then the components are analyzed using Raman detection technology to obtain analysis results, and the analysis results are displayed so that medical staff can further process the lesion according to the analysis results.
[0091] For example, the analysis results may include lesion composition, drug residue, and damage to the micro-nano robot.
[0092] In one possible embodiment, see Figure 6 , the three-dimensional rotating magnetic field is composed of three pairs of Helmholtz coils, each pair of Helmholtz coils includes two Helmholtz coils with coincident central axes;
[0093] The central axis of the first pair of Helmholtz coils is perpendicular to the central axis of the second pair of Helmholtz coils and the central axis of the third pair of Helmholtz coils respectively, and the central axis of the second pair of Helmholtz coils is perpendicular to the central axis of the third pair of Helmholtz coils.
[0094] For example, see Figure 6 , the central axis of the first pair of Helmholtz coils is x, the central axis of the second pair of Helmholtz coils is y, and the central axis of the third pair of Helmholtz coils is z, x is perpendicular to y and z respectively, and y and z are perpendicular to each other.
[0095] For example, the movement direction of the micro-nano robot is controlled by controlling the phase of each pair of Helmholtz coils.
[0096] For example, the driving method of the micro-nano robot may include the following steps:
[0097] f. Drug loading:
[0098] The micro-nano robot is placed in a drug solution of a specific drug. The drug particles in the drug solution will be adsorbed to the surface of the micro-nano robot, thereby achieving drug loading.
[0099] g. Transportation:
[0100] Micro-nano robots loaded with specific drugs are delivered into living organisms with lesions through microprobes.
[0101] h. Drive:
[0102] The three-dimensional rotating magnetic field is used to control the micro-nano robot to enter the lesion along the blood vessels of the living organism. The micro-nano robot softens and passes through the extracellular matrix and cell membrane to release the drug. The three-dimensional rotating magnetic field is then used to control the micro-nano robot to return to the original path after releasing the drug.
[0103] i. Take out:
[0104] The micro-nano robot that has released the specific drug is taken out through the microprobe.
[0105] j. Analysis:
[0106] The components in the chip groove of the micro-nano robot are obtained, and then the components are analyzed using Raman detection technology to obtain analysis results, and the analysis results are displayed.
[0107] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0108] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0109] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A micro-nano robot, characterized in that: include: A cylindrical spiral body, wherein two bottom surfaces of the cylindrical spiral body are conical surfaces.
2. The micro-nano robot according to claim 1, characterized in that: A hyaluronidase layer is adsorbed on the surface of the cylindrical spiral body, and the thickness of the hyaluronidase layer is 200 nm.
3. The micro-nano robot according to claim 1, characterized in that: The surface of the cylindrical spiral body is provided with a first chip removal groove; The two bottom surfaces of the cylindrical spiral body are provided with second chip removal grooves.
4. The micro-nano robot according to claim 3, characterized in that: The groove shape of the first chip removal groove is the same as or different from the groove shape of the second chip removal groove; The groove type includes at least one of a U-shaped groove, a V-shaped groove and a straight groove.
5. The micro-nano robot according to claim 1, characterized in that: The material of the cylindrical spiral body includes resin.
6. The micro-nano robot according to any one of claims 1 to 5, characterized in that: A nickel layer is sputtered on the surface of the cylindrical spiral body, and the thickness of the nickel layer is 100 nm.
7. The micro-nano robot according to any one of claims 1 to 5, characterized in that: The material of the cylindrical spiral body also includes ferrosoferric oxide.
8. A method for driving a micro-nano robot, characterized in that: Used to drive the micro-nano robot according to any one of claims 1 to 7, the driving method comprising: The movement path of the micro-nano robot is controlled by a three-dimensional rotating magnetic field, and the surface of the micro-nano robot is loaded with drugs.
9. The driving method of the micro-nano robot according to claim 8, characterized in that: The driving method further includes: Obtaining the components carried by the micro-nano robot; The components are analyzed by Raman detection technology, analysis results are generated, and the analysis results are displayed.
10. The driving method of the micro-nano robot according to claim 8, characterized in that: The three-dimensional rotating magnetic field is composed of three pairs of Helmholtz coils, each pair of Helmholtz coils includes two Helmholtz coils whose central axes coincide with each other; The central axis of the first pair of Helmholtz coils is perpendicular to the central axis of the second pair of Helmholtz coils and the central axis of the third pair of Helmholtz coils respectively, and the central axis of the second pair of Helmholtz coils is perpendicular to the central axis of the third pair of Helmholtz coils.