Biosynthetic soft robot

Abstract

The invention provides a biosynthetic soft-bodied robot. The biosynthetic soft-bodied robot comprises a driving part, a trunk part, a cavity part and a guide part, the driving part comprises a driving cell tissue and a tail oar foot; the trunk part comprises a main trunk, a second connector and a third connector; the driving cell tissue is arranged in the middle of the main body trunk and is used for driving the tail paddle foot to contract and relax; the cavity part comprises a trunk cavity and a tail cavity; the guide part comprises a head structure and a tail thin fin; according to the biosynthesis soft robot, posture switching such as sinking, suspension and floating can be achieved through the cavity part, and the biosynthesis soft robot can advance in the liquid environment and is driven by the driving cell tissue. According to the structural design, the contractility for driving the cell tissue is improved, the advancing resistance is reduced, and the advancing power and speed of the biosynthetic soft robot can be improved. The biosynthesis soft robot can be used for in-vitro experiments, and a research basis is provided for subsequent in-vivo execution of medicine transportation tasks.

Description

Technical Field

[0001] The invention belongs to the technical field of soft robots, and in particular relates to a biosynthetic soft robot. Background Art

[0002] Generally speaking, robots are composed of rigid actuators, sensors, control systems, and mechanical mechanisms, designed to perform predetermined functions. The working principle of robots relies on the action instructions sent by the control system to activate the actuators and drive the mechanical mechanism to move. In this process, the sensor device is responsible for monitoring the spatial position and exchanging information with the control system to obtain the next action instructions until the task is completed. Due to the remarkable practicality and efficiency of robots, especially artificial intelligence-driven robots, they have become increasingly important in fields such as education, medical care, manufacturing and services. Although current robots can efficiently complete a variety of tasks, most robots still have difficulties in performing flexible tasks, mainly due to their simple steel frame structure. In addition, the low energy conversion efficiency of traditional rigid actuators limits the further development of small robots that specialize in performing specific functions.

[0003] Most traditional rigid robots have poor flexibility and agility, making it difficult for them to perform flexible tasks. Biohybrid robots are integrated with living cells and flexible materials, and can reproduce the organ or tissue structure and function of organisms. These robots rely solely on nutrients and oxygen in the medium to maintain their survival and mobility without the need for additional energy input. Compared with traditional power devices, biological actuators show significant advantages in flexibility, environmental safety and compatibility, energy conversion efficiency, and integrated sensing and control capabilities. However, most existing soft robots can only perform a single function and have limitations in power and speed. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a biosynthetic soft robot that solves at least one of the above problems.

[0005] The biosynthetic soft robot of the present invention can realize posture switching such as sinking, suspension and floating through the cavity part, can move forward in a liquid environment and be driven by driving cell tissue.

[0006] The structural design of the present invention improves the contraction force of the driving cell tissue and reduces the forward resistance, which is beneficial to improving the forward power and speed of the biosynthetic soft robot.

[0007] The biosynthetic soft robot of the present invention can be used for in vitro experiments to provide a research basis for subsequent in vivo drug transport tasks.

[0008] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0009] The present invention achieves the above technical objectives through the following technical means.

[0010] A biosynthetic soft robot comprises a driving part, a trunk part, a cavity part and a guide part;

[0011] The driving part includes a driving cell tissue and a tail blade foot, and the tail blade foot includes a first tail blade foot, a second tail blade foot and a first connector; the first tail blade foot and the second tail blade foot are connected by the first connector;

[0012] The trunk part includes a main trunk, a second connector and a third connector; the driving cell tissue is arranged in the middle of the main trunk, one end of the driving cell tissue is connected to the main trunk, and the other end is connected to the first connector, and is used to drive the first tail paddle foot to swing with the second connector as a fulcrum, and the second tail paddle foot to swing with the third connector as a fulcrum to form the contraction and relaxation of the tail paddle foot;

[0013] The cavity part includes a trunk cavity, a first tail cavity and a second tail cavity; the trunk of the main body is provided with a trunk cavity communicating with the outside, the first tail paddle foot is provided with a first tail cavity communicating with the outside, and the second tail paddle foot is provided with a second tail cavity communicating with the outside;

[0014] The guide part includes a head structure and a tail thin fin, and the tail thin fin includes a first tail thin fin and a second tail thin fin;

[0015] The front end of the main body trunk is connected to the head structure, one side of the end of the main body trunk is connected to the first tail paddle foot through a second connector, and the upper surface of the first tail paddle foot is provided with a first tail thin fin that is tilted backwards, and the other side of the end of the main body trunk is connected to the second tail paddle foot through a third connector, and the upper surface of the second tail paddle foot is provided with a second tail thin fin that is tilted backwards.

[0016] In the above scheme, the trunk part also includes a cell tissue fixing anchor point; one end of the driving cell tissue is connected to the main trunk through the cell tissue fixing anchor point, and the other end is connected to the first connector through the cell tissue fixing anchor point.

[0017] In the above scheme, the driving cell tissue has contraction and expansion characteristics, which is used to transmit the biological power generated by the deformation of the living cell tissue to the first tail paddle foot and the second tail paddle foot, driving the first tail paddle foot to swing with the second connector as the fulcrum and the second tail paddle foot to swing with the third connector as the fulcrum to form the contraction and expansion of the tail paddle feet.

[0018] In the above scheme, the main body trunk is in an inverted U-shape, the opening of the inverted U-shaped main body trunk faces backwards, a cell tissue fixing anchor point is provided on the inner side of the top of the inverted U-shaped main body trunk, and the driving cell tissue is arranged in the middle of the U shape; an inverted U-shaped trunk cavity connected to the outside is provided inside the main body trunk, and the trunk cavity opening faces backwards.

[0019] In the above scheme, the head structure is a triangular prism-shaped hollow shell structure, one side of the head structure is open to the rear and perpendicular to the forward direction, and the other sides are closed.

[0020] In the above scheme, the side of the head structure that opens rearward is connected to the front end of the main trunk through a rib plate, and the head structure is lifted upward and is higher than the bottom of the driving part and the trunk part.

[0021] In the above scheme, the first tail paddle foot and the second tail paddle foot are symmetrically distributed with the first connector as the center, one end of the first connector is connected to one side of the first tail paddle foot, and the other end is connected to one side of the second tail paddle foot; the first connector is inwardly curved on both sides, and a cell tissue fixing anchor point is provided on the curved surface facing the main body trunk; the second connector is inwardly curved on the side facing the cell tissue fixing anchor point, so that there is a gap between the second connector and the cell tissue fixing anchor point, and the third connector is inwardly curved on the side facing the cell tissue fixing anchor point, so that there is a gap between the third connector and the cell tissue fixing anchor point; a first tail cavity is provided inside the first tail paddle foot, and the opening of the first tail cavity is on the other side of the first tail paddle foot, and a second tail cavity is provided inside the second tail paddle foot, and the opening of the second tail cavity is on the other side of the second tail paddle foot.

[0022] In the above solution, the angle between the first tail thin fin and the upper surface of the first tail blade foot is 45 degrees, and the angle between the second tail blade foot and the upper surface of the second tail thin fin is 45 degrees.

[0023] In the above scheme, the angle between the two side surfaces of the front part of the main body trunk is 130°, and the rear part of the main body trunk gradually shrinks inwards.

[0024] In the above solution, the trunk part and the guide part are both made of elastic material.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In the present invention, the driving cell tissue is used to drive the soft robot, thereby realizing the bending deformation of the connection between the paddle feet at the tail, and then driving the two paddle feet to swing. In addition, the resilience of the soft robot material itself is combined to achieve overall driving; and the design of the driving part structure of the present invention improves the contraction force of the driving cell tissue and reduces the forward resistance, which is beneficial to improving the forward power and speed of the biosynthetic soft robot.

[0027] 2. In the present invention, the air content in the trunk cavity and the tail cavity is regulated by squeezing the cavity, so that the soft robot can achieve the multifunctional functions of sinking, suspending and floating.

[0028] 3. In the present invention, the tilt direction of the head structure and the thin tail fin is set to be consistent with the forward direction, so that the backward resistance of the robot in the liquid is greater than the forward resistance, thereby realizing the function of the soft robot moving forward;

[0029] 4. The trunk part and the guide part of the present invention are both made of elastic materials. By using photosensitive resin and a stereoscopic light-curing 3D printer, an integrated elastomer for making a soft robot can be printed, achieving a more novel, efficient and simple effect.

[0030] 5. The biosynthetic soft robot described in the present invention can be used for in vitro experiments to provide a research basis for subsequent in vivo drug transport tasks.

[0031] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is an overall structural diagram of a biosynthetic soft robot according to one embodiment of the present invention.

[0033] Figure 2 This is a bottom-up structural diagram of a biosynthetic soft robot according to one embodiment of the present invention.

[0034] Figure 3 This is a top view of the structure of a biosynthetic soft robot according to one embodiment of the present invention when no living cell tissue is carried.

[0035] Figure 4 for Figure 3 AA partial cross-section structure diagram.

[0036] Figure 5 for Figure 3 BB tail section structure diagram.

[0037] Figure 6 Schematic diagram of the forward movement of a biosynthetic soft robot according to one embodiment of the present invention.

[0038] In the figure:

[0039] 1-1: driving cell organization; 1-2: first tail paddle foot; 1-3: second tail paddle foot; 1-4: first connector;

[0040] 2-1: main body; 2-2: cell tissue fixing anchor point; 2-3: second connector; 2-4: third connector;

[0041] 3-1: trunk cavity; 3-2: first tail cavity; 3-3: second tail cavity;

[0042] 4-1: Head structure; 4-2: First caudal thin fin; 4-3: Second caudal thin fin. DETAILED DESCRIPTION

[0043] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] Unless otherwise specified, the reagents and materials used in the following examples can be obtained from commercial sources.

[0047] Figure 1-2A preferred embodiment of the biosynthetic soft robot is shown, wherein the biosynthetic soft robot comprises a driving part, a trunk part, a cavity part and a guide part;

[0048] The driving part includes a driving cell tissue 1-1 and a tail paddle foot, and the tail paddle foot includes a first tail paddle foot 1-2, a second tail paddle foot 1-3 and a first connector 1-4; the first tail paddle foot 1-2 and the second tail paddle foot 1-3 are connected by the first connector 1-4;

[0049] The trunk part includes a main trunk 2-1, a second connector 2-3 and a third connector 2-4; the driving cell tissue 1-1 is arranged in the middle of the main trunk 2-1, one end of the driving cell tissue 1-1 is connected to the main trunk 2-1, and the other end is connected to the first connector 1-4, and is used to drive the first tail paddle foot 1-2 to swing with the second connector 2-3 as a fulcrum, and the second tail paddle foot 1-3 to swing with the third connector 2-4 as a fulcrum to form the contraction and relaxation of the tail paddle foot;

[0050] The cavity part includes a trunk cavity 3-1, a first tail cavity 3-2 and a second tail cavity 3-3; the trunk cavity 3-1 connected to the outside is provided inside the main trunk 2-1, the first tail paddle foot 1-2 is provided with a first tail cavity 3-2 connected to the outside, and the second tail paddle foot 1-3 is provided with a second tail cavity 3-3 connected to the outside;

[0051] The guide part includes a head structure 4-1 and a tail thin fin, and the tail thin fin includes a first tail thin fin 4-2 and a second tail thin fin 4-3;

[0052] The front end of the main body trunk 2-1 is connected to the head structure 4-1, and one side of the end of the main body trunk 2-1 is connected to the first tail paddle foot 1-2 through a second connector 2-3, and the upper surface of the first tail paddle foot 1-2 is provided with a first tail thin fin 4-2 that is tilted backwards, and the other side of the end of the main body trunk 2-1 is connected to the second tail paddle foot 1-3 through a third connector 2-4, and the upper surface of the second tail paddle foot 1-3 is provided with a second tail thin fin 4-3 that is tilted backwards.

[0053] Preferably, the trunk part also includes a cell tissue fixing anchor 2-2; one end of the driving cell tissue 1-1 is connected to the main trunk 2-1 through the cell tissue fixing anchor 2-2, and the other end is connected to the first connector 1-4 through the cell tissue fixing anchor 2-2.

[0054] Preferably, the driving cell tissue 1-1 has contraction and expansion characteristics, and is used to transmit the biological power generated by the deformation of the living cell tissue to the first tail paddle foot 1-2 and the second tail paddle foot 1-3, driving the first tail paddle foot 1-2 to swing with the second connector 2-3 as the fulcrum, and the second tail paddle foot 1-3 to swing with the third connector 2-4 as the fulcrum to form contraction and expansion of the tail paddle feet, so as to drive the soft robot to move.

[0055] Preferably, the main body trunk 2-1 is generally in an inverted U-shape with a rectangular cross-section, the opening of the inverted U-shaped main body trunk 2-1 faces backward, and a cell tissue fixing anchor 2-2 formed by a columnar array arranged symmetrically on the left and right is provided on the inner side of the top of the inverted U-shaped main body trunk 2-1. The driving cell tissue 1-1 is arranged in the middle of the U shape and fixed by the cell tissue fixing anchor 2-2; two layers of inverted U-shaped trunk cavities 3-1 connected to the outside are provided inside the main body trunk 2-1, and the opening of the trunk cavity 3-1 connected to the outside faces backward.

[0056] Preferably, the head structure 4-1 is a triangular prism-shaped hollow shell structure with a span slightly narrower than the tail paddle foot. One side of the head structure 4-1 is open to the rear and perpendicular to the forward direction, and the other sides are closed, so that the force applied to the robot when it moves forward and backward in the liquid is different, that is, the forward resistance is small and the backward resistance is large.

[0057] Preferably, the side of the head structure 4-1 that opens toward the rear is connected to the front end of the main trunk 2-1 through two ribs with upward bends, so that the head structure 4-1 is lifted upward and higher than the bottom of the driving part and the trunk part, preventing the lower edge of the head from hitting the contact surface when the robot sinks to the bottom.

[0058] Preferably, the first tail paddle foot 1-2 and the second tail paddle foot 1-3 are symmetrically distributed with the first connector 1-4 as the center, one end of the first connector 1-4 is connected to one side of the first tail paddle foot 1-2, and the other end is connected to one side of the second tail paddle foot 1-3; the first connector 1-4 is bilaterally inwardly curved, so that the first connector 1-4 is easier to bend, and a cell tissue fixing anchor 2-2 formed by a columnar array arranged symmetrically on the side of the first connector 1-4 facing the main body trunk 2-1 is provided with a cell tissue fixing anchor 2-2 formed by a columnar array arranged symmetrically on the left and right, which is used to fix and drive the cell tissue 1-1; the second connector 2-3 is inwardly curved on the side facing the cell tissue fixing anchor 2-2, so that there is a gap between the second connector 2-3 and the cell tissue fixing anchor 2-2, and the third connector 2-4 is inwardly curved on the side facing the cell tissue fixing anchor 2-2, so that there is a gap between the third connector 2-4 and the cell tissue fixing anchor 2-2, such as Figure 3As shown, L1 is the distance between the center line of the connection between the first tail paddle foot 1-2 and the second connector 2-3 and the cell tissue fixing anchor point 2-2 on the first connector 1-4, and L2 is the distance between the center line of the connection between the second tail paddle foot 1-3 and the cell tissue fixing anchor point 2-2 on the first connector 1-4. When the cell tissue 1-1 is driven to contract, the first connector 1-4 is deformed forward, so that the first tail paddle foot 1-2 will swing backward with the second connector 2-3 as the fulcrum. L1 and L2 are relatively small, similar to a lever. The slight deformation of the first connector 1-4 forward will cause the first tail paddle foot 1-2 to swing backward in a large range, so that the reaction force provided by the culture fluid will also increase. The swing of the second tail paddle foot 1-3 is similar, so that the power generated by the driving cell tissue 1-1 produces an amplified effect at the tail.

[0059] The first tail paddle foot 1-2 is provided with three layers of first tail cavity 3-2 inside, and the opening for connecting the first tail cavity 3-2 with the outside is on the other side of the first tail paddle foot 1-2. The second tail paddle foot 1-3 is provided with three layers of second tail cavity 3-3 inside, and the opening for connecting the second tail cavity 3-3 with the outside is on the other side of the second tail paddle foot 1-3.

[0060] The cavity is used to control the robot's sinking and floating posture. Because the density of the robot's material after molding is slightly greater than its working environment, such as culture medium, the robot will sink to the bottom after the cavity is squeezed to fill it with culture medium. When the robot is taken out and moderately squeezed in the air, air enters the cavity, and then placed in the culture medium, it will be in a suspended or floating state.

[0061] Preferably, the first tail thin fin 4-2 and the upper surface of the first tail paddle foot 1-2 are at an angle of 45 degrees, and the second tail paddle foot 1-3 and the upper surface of the second tail thin fin 4-3 are at an angle of 45 degrees. Its function is similar to that of the head structure, which also makes the force of the robot moving forward and backward in the liquid different, that is, the forward resistance is small and the backward resistance is large.

[0062] Preferably, the angle between the two side surfaces of the front part of the main body trunk 2-1 is 130°, in order to reduce the resistance when moving forward. The rear part of the main body trunk 2-1 gradually shrinks inward, and the connection with the two tail paddle feet is bilaterally inwardly curved, making this part easy to bend.

[0063] Preferably, the trunk portion and the guide portion are both made of elastic material.

[0064] Preferably, except for the driving cell tissue 1-1, the rest of the biosynthetic soft robot can be completed in one piece by photocuring 3D printing.

[0065] Preferably, a plurality of isosceles trapezoidal micro support bars of equal spacing and different lengths are arranged at the bottom of the main body trunk 2-1 and the tail paddle foot, so that the soft robot has better stability when moving forward when sinking to the bottom.

[0066] In a specific embodiment of the present invention, a structurally integrated three-dimensional model of a soft robot without a driving cell tissue 1-1 is first designed using three-dimensional design software, that is, the three-dimensional model includes the rest except the driving cell tissue 1-1, and then a stereolithography 3D printer is used to print photosensitive resin into an elastomeric structure of the three-dimensional model. After printing is completed, the elastomeric structure is taken out and subjected to processes such as cleaning, wiping, curing, and drying to obtain a corresponding model. The extracted primary cardiomyocytes are cultured between two cell tissue fixing anchor points 2-2 in the main trunk 2-1 of the model until the driving cell tissue 1-1 is formed. The soft robot with the driving cell tissue 1-1 is placed in a 37°C constant temperature standard culture medium. Because the cardiomyocyte tissue can spontaneously contract in a suitable environment, when the tissue contracts, it pulls the first connector 1-4 to bend forward and deform, and uses the tail paddle foot and the second connector 2-3 and the third connector 2-4 as fulcrums, respectively, so that the first tail paddle foot 1-2 and the second tail paddle foot 1-3 swing inward in a contracted state and push the culture medium, thereby obtaining a forward thrust to push the robot forward. When the tissue relaxes, the biosynthetic soft robot relies on the resilience of its own material to restore its original posture. At this time, the culture fluid will give the biosynthetic soft robot a backward force to drive it to move backward. However, due to the presence of the head structure 4-1 and the first tail thin fin 4-2 and the second tail thin fin 4-3, the resistance to the backward movement of the biosynthetic soft robot will be very large, so the backward movement of the biosynthetic soft robot is almost zero. Figure 6 As shown, the robot can move forward in a liquid environment through the above process. In addition, by squeezing the trunk cavity 3-1, the first tail cavity 3-2 and the second tail cavity 3-3, and adjusting the air content therein, the soft robot can be switched between sinking, suspension and floating. In a specific embodiment of the present invention, the three-dimensional model design process of the biosynthetic soft robot is as follows: a three-dimensional model is designed using UG software, such as Figure 2 As shown, the head structure 4-1 has a left-right span of 6.6mm, a wall thickness of 0.2mm, a front sharp angle of 55°, and both left and right sides are isosceles triangles with a base length of 2.4mm. The two ribs are 0.2mm thick, the angle at the turning point is 125°, and the extended length is 0.8mm. Figure 3 , Figure 4As shown, the main trunk 2-1 is generally inverted U-shape, with a left-right span of 4mm, a front-to-back span of 4.5mm, and a rectangular cross-section of 2mm×1.2mm. A trunk cavity 3-1 is provided inside it, which opens backwards and is divided into two layers. The cross-section of each cavity is a square with a side length of 0.8mm. The cell tissue fixing anchor 2-2 on the inner side of the U-shaped top is provided with a micro-column array arranged symmetrically on the left and right. The cell tissue fixing anchor 2-2 on the front curved surface of the first connector 1-4 is also provided with a micro-column array arranged symmetrically on the left and right. The column height is 0.1mm and the base thickness is 0.3mm. The two side surfaces of the front part of the main trunk 2-1 have an angle of 130°, and the rear end converges inward at an angle of 60°, and is connected to the tail paddle foot through the second connector 2-3 and the third connector 2-4. As shown Figure 5 As shown, the left and right span of the first tail blade foot 1-2 and the second tail blade foot 1-3 is 7mm, the height is 2mm, and the width is 1mm. There are three layers of cavities inside the first tail blade foot 1-2 and the second tail blade foot 1-3. The thickness of the partition between the three layers of cavities is 0.1mm. The cross section of each cavity is a rectangle of 0.7mm×0.5mm, and the span is 3mm. Figure 4 As shown, the upper surface of the two paddle feet each has a thin fin-shaped structure 4-2, 4-3 facing backwards and at a 45-degree angle to the paddle foot surface, with a bottom width of 0.3mm and a height of 0.6mm. The height of the two paddle foot connectors 1-4 is 1.5mm, and the bottom surface is 0.2mm away from the bottom surface of the robot. Isosceles trapezoidal micro-support strips with equal spacing and different lengths and a height of 0.1mm are set at the bottom of the trunk and tail.

[0067] The 3D printing manufacturing process of the biosynthetic soft robot is as follows: the prepared M-FL elastic material is poured into the resin tank of the printer. The designed three-dimensional model is imported into the 3D printing device, the slice thickness of the 3D printer printing model is set to 30μm, and the parameters such as exposure time and light source intensity are adjusted, and printing is started, which takes a total of 17 minutes. After the printing is completed, the elastomer is taken out and the corresponding model is obtained through cleaning, wiping, curing, drying and other processes.

[0068] The driving cell tissue 1-1 of the biosynthetic soft robot is obtained by culturing primary cardiomyocytes. In a specific embodiment of the present invention, the primary cardiomyocyte extraction process is as follows: 10% fetal bovine serum and 1% penicillin-streptomycin double antibody solution are stirred to make a culture solution, a total of 50 ml. 0.125% trypsin and 100 ml phosphate buffered saline are stirred to make pancreatic juice. Take three newborn mice, wash and dry with alcohol, cut along the abdomen of the mouse with surgical forceps, and pinch the heart with sterile tweezers. Wash the heart in a culture dish containing PBS, then move it to a culture dish containing pancreatic juice, and cut the heart with surgical forceps. Use a pipette to move the cut tissue fluid into a centrifuge tube containing 5 ml of pancreatic juice, refrigerate at 4°C overnight, and record it as solution 1. After refrigeration overnight, use a pipette to aspirate the supernatant in solution 1 into another centrifuge tube, and then centrifuge it at 1200r / min, 6min, and keep the temperature constant to obtain solution 2. Use a pipette to suck the undigested tissue in solution 1 into a conical flask containing 15ml pancreatic juice and magnetic beads, and place the conical flask on a magnetic stirrer for digestion at 36-37℃, 45r / min. After 15min, use a pipette to suck out the digestion solution and add solution 2 to 70μm cell filter for filtration. Add 5ml culture medium to the filtered digestion solution to terminate digestion, and then centrifuge at 1200r / min for 6min without changing the temperature. After centrifugation, pour out the supernatant to obtain a cell precipitate. If there is still undigested tissue on the cell filter, repeat the above operation. Collect all cell precipitates into a centrifuge tube, add a small amount of culture medium, blow about 200 times to avoid bubbles, and suspend the cells. Aspirate the cell suspension into the culture dish and shake well. Then culture at a constant temperature for 1 hour. After 1 hour, aspirate the cultured solution into a centrifuge tube and add an appropriate amount of culture medium. Quantitatively divide it into 48-well cell plates and place it in an incubator for continued culture.

[0069] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0070] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A biosynthetic soft robot, characterized in that: It includes a driving part, a trunk part, a cavity part and a guide part; The driving part comprises a driving cell tissue (1-1) and a tail paddle foot, wherein the tail paddle foot comprises a first tail paddle foot (1-2), a second tail paddle foot (1-3) and a first connector (1-4); the first tail paddle foot (1-2) and the second tail paddle foot (1-3) are connected via the first connector (1-4); The trunk portion comprises a main trunk (2-1), a second connector (2-3) and a third connector (2-4); the driving cell tissue (1-1) is arranged in the middle of the main trunk (2-1), one end of the driving cell tissue (1-1) is connected to the main trunk (2-1), and the other end is connected to the first connector (1-4), and is used to drive the first tail paddle foot (1-2) to swing with the second connector (2-3) as a fulcrum, and the second tail paddle foot (1-3) to swing with the third connector (2-4) as a fulcrum to form the contraction and relaxation of the tail paddle foot; The cavity part comprises a trunk cavity (3-1), a first tail cavity (3-2) and a second tail cavity (3-3); the trunk (2-1) is provided with a trunk cavity (3-1) communicating with the outside, the first tail paddle foot (1-2) is provided with a first tail cavity (3-2) communicating with the outside, and the second tail paddle foot (1-3) is provided with a second tail cavity (3-3) communicating with the outside; The guide part comprises a head structure (4-1) and a tail thin fin, and the tail thin fin comprises a first tail thin fin (4-2) and a second tail thin fin (4-3); The front end of the main body trunk (2-1) is connected to the head structure (4-1), one side of the end of the main body trunk (2-1) is connected to the first tail blade foot (1-2) through a second connector (2-3), the upper surface of the first tail blade foot (1-2) is provided with a first tail thin fin (4-2) tilted backwards, and the other side of the end of the main body trunk (2-1) is connected to the second tail blade foot (1-3) through a third connector (2-4), and the upper surface of the second tail blade foot (1-3) is provided with a second tail thin fin (4-3) tilted backwards.

2. The biosynthetic soft robot according to claim 1, characterized in that: The trunk part also includes a cell tissue fixing anchor point (2-2); one end of the driving cell tissue (1-1) is connected to the main trunk (2-1) through the cell tissue fixing anchor point (2-2), and the other end is connected to the first connector (1-4) through the cell tissue fixing anchor point (2-2).

3. The biosynthetic soft robot according to claim 1, characterized in that: The driving cell tissue (1-1) has contraction and expansion characteristics, and is used to transmit the biological power generated by the deformation of the cell tissue to the first tail paddle foot (1-2) and the second tail paddle foot (1-3), driving the first tail paddle foot (1-2) to swing with the second connector (2-3) as a fulcrum, and the second tail paddle foot (1-3) to swing with the third connector (2-4) as a fulcrum to form contraction and expansion of the tail paddle feet.

4. The biosynthetic soft robot according to claim 2, characterized in that: The main body trunk (2-1) is in an inverted U-shape, the opening of the inverted U-shaped main body trunk (2-1) faces backwards, a cell tissue fixing anchor point (2-2) is provided on the inner side of the top of the inverted U-shaped main body trunk (2-1), and the driving cell tissue (1-1) is arranged in the middle of the U shape; an inverted U-shaped trunk cavity (3-1) connected to the outside is provided inside the main body trunk (2-1), and the opening of the trunk cavity (3-1) faces backwards.

5. The biosynthetic soft robot according to claim 1, characterized in that: The head structure (4-1) is a triangular prism-shaped hollow shell structure, one side of the head structure (4-1) is open toward the rear and perpendicular to the forward direction, and the other sides are closed.

6. The biosynthetic soft robot according to claim 5, characterized in that: The side of the head structure (4-1) that opens toward the rear is connected to the front end of the main trunk (2-1) through a rib plate, and the head structure (4-1) is lifted upward and is higher than the bottom of the driving part and the trunk part.

7. The biosynthetic soft robot according to claim 1, characterized in that: The first tail paddle foot (1-2) and the second tail paddle foot (1-3) are symmetrically distributed with the first connector (1-4) as the center, one end of the first connector (1-4) is connected to one side of the first tail paddle foot (1-2), and the other end is connected to one side of the second tail paddle foot (1-3); the first connector (1-4) is in a bilateral inwardly curved shape, and a cell tissue fixing anchor point (2-2) is provided on a curved surface facing the main body trunk (2-1); the second connector (2-3) is in an inwardly curved shape on one side facing the cell tissue fixing anchor point (2-2), so that the second connector (2-3) and the cell tissue fixing anchor point (2-2) are in a There is a gap between the fixing anchor points (2-2); the third connector (2-4) is bent inwardly on one side facing the cell tissue fixing anchor point (2-2), so that there is a gap between the third connector (2-4) and the cell tissue fixing anchor point (2-2); a first tail cavity (3-2) is provided inside the first tail paddle foot (1-2), and the opening of the first tail cavity (3-2) is on the other side of the first tail paddle foot (1-2); a second tail cavity (3-3) is provided inside the second tail paddle foot (1-3), and the opening of the second tail cavity (3-3) is on the other side of the second tail paddle foot (1-3).

8. The biosynthetic soft robot according to claim 1, characterized in that: The angle between the first tail thin fin (4-2) and the upper surface of the first tail blade foot (1-2) is 45 degrees, and the angle between the second tail blade foot (1-3) and the upper surface of the second tail thin fin (4-3) is 45 degrees.

9. The biosynthetic soft robot according to claim 1, characterized in that: The included angle between the two side surfaces of the front part of the main body trunk (2-1) is 130°, and the rear part of the main body trunk (2-1) gradually shrinks inwards.

10. The biosynthetic soft robot according to claim 1, characterized in that: The trunk part and the guide part are both made of elastic material.

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