A biosynthetic soft robot

Abstract

The present invention provides a biosynthetic soft robot, comprising a driving portion, a trunk portion, a cavity portion and a guide portion; the driving portion comprises a driving cell tissue and a tail paddle foot, and the trunk portion comprises a main trunk, a second connector and a third connector; the driving cell tissue is arranged in the middle of the main trunk, for driving the contraction and expansion of the tail paddle foot; the cavity portion comprises a trunk cavity and a tail cavity; the guide portion comprises a head structure and a tail thin fin; the biosynthetic soft robot of the present invention can realize posture switching such as sinking, suspension and floating through the cavity portion, can move forward in a liquid environment and be driven by the driving cell tissue. The structural design of the present invention improves the contraction force of the driving cell tissue and reduces the resistance to forward movement, which is conducive to improving the forward power and speed of the biosynthetic soft robot. The biosynthetic soft robot of the present invention can be used for in vitro experiments, providing a research basis for subsequent in vivo drug transport tasks.

Description

Technical Field

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

[0002] Generally speaking, a robot consists of rigid actuators, sensors, control systems, and mechanical mechanisms, designed to perform predetermined functions. The working principle of a robot relies on the motion instructions sent by the control system to activate the actuators and drive the mechanical mechanism to move. During this process, the sensor device is responsible for monitoring the spatial position and exchanging information with the control system to obtain the next motion instructions until the task is completed. Due to the significant 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 are specialized to perform 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 survival and mobility without the need for additional energy input. Compared with traditional power devices, biological actuators have 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 response to 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 is driven by driving cell tissue.

[0006] The structural design of the present invention improves the contractile 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 described in the present invention can be used for in vitro experiments, providing a research basis for subsequent in vivo drug transport tasks.

[0008] Note that the inclusion of these objectives does not preclude the existence of other objectives. One embodiment of the present invention does not necessarily achieve all of the above objectives. Objectives other than the above objectives may 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 paddle foot, and the tail paddle foot includes a first tail paddle foot, a second tail paddle foot and a first connector; the first tail paddle foot and the second tail paddle foot are connected by the first connector;

[0012] The trunk portion 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 contraction and relaxation of the tail paddle foot;

[0013] The cavity portion includes a trunk cavity, a first tail cavity, and a second tail cavity; the trunk cavity communicating with the outside is provided inside the main body, 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 portion 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, and 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 backward. 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 backward.

[0016] In the above solution, 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 backward, 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 backward.

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

[0020] In the above solution, the side of the head structure that opens toward the rear is connected to the front end of the main trunk through a rib plate, and the head structure is raised 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 bilaterally inwardly curved, 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 solution, the angle between the two side surfaces of the front part of the main body trunk is 130 degrees, 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. The present invention adopts driving cell tissue to achieve bending deformation at the connection between the paddle feet at the tail of the soft robot, which then drives the two paddle feet to swing. In addition, the resilience of the soft robot material itself is used to achieve overall driving. The design of the driving part structure of the present invention improves the contraction force of the driving cell tissue and reduces the resistance to forward movement, 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 adjusted by squeezing, so that the soft robot can achieve the multifunctional functions of sinking, suspending and floating.

[0028] 3. In the present invention, by aligning the tilt direction of the head structure and the thin tail fin with the forward direction, the backward resistance of the robot in the liquid is made greater than the forward resistance, thus achieving the function of the soft robot to move 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 stereolithography 3D printer, an integrated elastomer for making a soft robot can be printed, achieving a more novel, more efficient and simple effect.

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

[0031] Note that the description of these effects does not preclude 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 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 cutaway 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 picture:

[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 trunk; 2-2: Cell tissue 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] The following describes embodiments of the present invention in detail, 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 are not to 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 orientations or positional relationships based on the orientations 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 the indicated technical features. 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, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

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

[0047] Figure 1-2The figure shows a preferred embodiment of the biosynthetic soft robot, which includes 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 portion 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 contraction and relaxation of the tail paddle foot;

[0050] The cavity portion includes 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;

[0051] The guide portion 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 the 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 backward. The other side of the end of the main body trunk 2-1 is connected to the second tail paddle foot 1-3 through the 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 backward.

[0053] Preferably, the trunk part further 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 properties, 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, thereby driving 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 the inner side of the top of the inverted U-shaped 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. The driving cell tissue 1-1 is arranged in the middle of the U shape and is fixed by the cell tissue fixing anchor 2-2; the inside of the main body trunk 2-1 is provided with two layers of inverted U-shaped trunk cavities 3-1 connected to the outside, 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 left and right is provided on the curved surface of the first connector 1-4 facing the main body trunk 2-1, which is used to fix and drive the cell tissue 1-1; the side of the second connector 2-3 facing the cell tissue fixing anchor 2-2 is inwardly curved, so that there is a gap between the second connector 2-3 and the cell tissue fixing anchor 2-2, and the side of the third connector 2-4 facing the cell tissue fixing anchor 2-2 is inwardly curved, 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 centerline 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 centerline 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. A slight forward deformation of the first connector 1-4 will cause the first tail paddle foot 1-2 to swing backward significantly, thereby increasing the reaction force provided by the culture medium. The swing of the second tail paddle foot 1-3 is similar, so that the power generated by the driven cell tissue 1-1 has an amplified effect at the tail.

[0059] Three layers of first tail cavities 3-2 are provided inside the first tail paddle foot 1-2, and the opening for the first tail cavity 3-2 to communicate with the outside is on the other side of the first tail paddle foot 1-2. Three layers of second tail cavities 3-3 are provided inside the second tail paddle foot 1-3, and the opening for the second tail cavity 3-3 to communicate 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 or floating position. Because the density of the robot's finished material is slightly higher than its operating environment, such as culture medium, squeezing the cavity to fill it with culture medium will cause the robot to sink. However, if the robot is removed and gently squeezed in air to allow air to enter the cavity, it will then float or suspend in culture medium.

[0061] Preferably, the angle between the first tail thin fin 4-2 and the upper surface of the first tail paddle foot 1-2 is 45 degrees, and the angle between the second tail paddle foot 1-3 and the upper surface of the second tail thin fin 4-3 is 45 degrees. Their function is similar to that of the head structure, which also creates a difference in the force applied to the robot when it moves forward and backward in the liquid, 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 trunk 2-1 is 130°, in order to reduce the resistance during forward movement. The rear part of the main trunk 2-1 gradually shrinks inward, and the connection with the two tail paddle feet is bilaterally inward 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 using photocuring 3D printing.

[0065] Preferably, a plurality of isosceles trapezoidal micro support bars of equal spacing and different lengths are provided 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 remaining parts except the driving cell tissue 1-1, and then a stereolithography 3D printer is used to print a photosensitive resin into the elastomeric structure of the three-dimensional model. After the printing is completed, the elastomeric structure is taken out and subjected to processes such as cleaning, wiping, curing, and drying to obtain the corresponding model. The extracted primary cardiomyocytes are cultured between the 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 under a suitable environment, when the tissue contracts, it pulls the first connector 1-4 forward to bend 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 to a contracted state and push the culture medium, thereby obtaining forward thrust to propel 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 medium 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 biosynthetic soft robot's backward movement will be very large, so the biosynthetic soft robot's backward movement is almost zero. The forward process diagram is shown in the figure below. 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 postures. In a specific embodiment of the present invention, the design process of the three-dimensional model of the biosynthetic soft robot is as follows: the three-dimensional model is designed using UG software, as shown in FIG. 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, with a turning angle of 125° and a protruding length of 0.8mm. Figure 3 、 Figure 4As shown, the main trunk 2-1 is generally in an 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 to the rear and is divided into two layers. The cross section of each layer of the 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-columnar 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-columnar 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 of the main trunk 2-1 are at 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 first tail blade foot 1-2 and the second tail blade foot 1-3 have a left-right span of 7mm, a height of 2mm, and a width of 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 with a span of 3mm. Figure 4 As shown, the upper surface of each paddle foot features a thin, rearward-facing fin-like structure 4-2, 4-3, angled 45 degrees to the foot surface. Its base width is 0.3mm and its height is 0.6mm. The connecting body 1-4 between the two paddle feet is 1.5mm tall, with its bottom surface 0.2mm from the bottom of the robot. Micro-support bars in the shape of isosceles trapezoids, 0.1mm high, are placed at equal intervals and varying lengths at the bottom of the torso and tail.

[0067] The 3D printing process for the biosynthetic soft robot involves pouring the prepared M-FL elastomer into the printer's resin tank. The designed 3D model is then imported into the 3D printer. The slice thickness is set to 30 μm, and parameters such as exposure time and light intensity are adjusted. Printing begins, taking a total of 17 minutes. After printing is complete, the elastomer is removed and cleaned, wiped, cured, and air-dried to produce the desired model.

[0068] The driving cell tissue 1-1 of the biosynthetic soft robot is obtained by culturing primary cardiomyocytes. In one 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 prepare a culture medium, a total of 50 ml. Pancreatic juice is prepared by stirring 0.125% trypsin and 100 ml phosphate buffered saline. Three newborn mice are taken, washed and dried with alcohol, and the mouse abdomen is cut open with surgical forceps, and the heart is pinched with sterile forceps. The heart is washed in a culture dish containing PBS, then transferred to a culture dish containing pancreatic juice, and the heart is cut into pieces with surgical forceps. The cut tissue fluid is transferred into a centrifuge tube containing 5 ml of pancreatic juice with a pipette, and refrigerated at 4°C overnight, which is recorded as solution 1. After refrigeration overnight, the supernatant in solution 1 is aspirated into another centrifuge tube with a pipette, and then centrifuged at 1200 r / min for 6 minutes, with the temperature kept constant, to obtain solution 2. Use a pipette to transfer undigested tissue from Solution 1 to a conical flask containing 15 ml of pancreatic juice and magnetic beads. Place the conical flask on a magnetic stirrer and digest for 15 minutes at 36-37°C and 45 rpm. After 15 minutes, remove the digestion solution with a pipette and filter through a 2- to 70 μm cell strainer. Add 5 ml of culture medium to the filtered digestion solution to terminate digestion. Centrifuge at 1200 rpm for 6 minutes, maintaining the temperature. Discard the supernatant to obtain a cell pellet. Repeat the above steps if undigested tissue remains on the cell strainer. Collect the entire cell pellet into a centrifuge tube, add a small amount of culture medium, and pipette about 200 times to avoid bubbles to resuspend the cells. Pipette the cell suspension into a culture dish and shake well. Incubate at a constant temperature for 1 hour. After 1 hour, pipette the incubation solution into a centrifuge tube and add an appropriate amount of culture medium. Aliquot the solution into a 48-well plate and continue culturing in an incubator.

[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 can 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. Any 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, thereby contracting and expanding the tail paddle foot; The cavity portion comprises a trunk cavity (3-1), a first tail cavity (3-2) and a second tail cavity (3-3); the trunk cavity (3-1) communicating with 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) 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 portion 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 trunk (2-1) is connected to the head structure (4-1); one side of the end of the main trunk (2-1) is connected to the first tail paddle foot (1-2) through a second connector (2-3); the upper surface of the first tail paddle foot (1-2) is provided with a first tail thin fin (4-2) tilted backwards; the other side of the end of the main trunk (2-1) is connected to the second tail paddle foot (1-3) through a third connector (2-4); the upper surface of the second tail paddle 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, thereby forming contraction and expansion of the tail paddle feet.

4. The biosynthetic soft robot according to claim 2, characterized in that: The main trunk (2-1) is in an inverted U-shape, with the opening of the inverted U-shaped main trunk (2-1) facing backwards; a cell tissue fixing anchor point (2-2) is provided on the inner side of the top of the inverted U-shaped main trunk (2-1); the driving cell tissue (1-1) is provided in the middle of the U-shape; an inverted U-shaped trunk cavity (3-1) communicating with the outside is provided inside the main trunk (2-1), and the trunk cavity (3-1) opens 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. The head structure (4-1) is raised 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 inward-curved shape, and a cell tissue fixing anchor point (2-2) is provided on the curved surface facing the main body trunk (2-1); the second connector (2-3) is in an inward-curved shape on the side facing the cell tissue fixing anchor point (2-2), so that the second connector (2-3) and the cell tissue are fixed. There is a gap between the fixing anchor points (2-2), and the side of the third connector (2-4) facing the cell tissue fixing anchor point (2-2) is bent inward, 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 angle between the two side surfaces of the front part of the main body trunk (2-1) is 130 degrees, 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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