Macro-micro driving fiber micro continuum robot and manufacturing method thereof

Abstract

The invention provides a macro-micro driving fiber micro continuum robot and a manufacturing method thereof.The macro-micro driving fiber micro continuum robot comprises a macro robot, a driving optical fiber and a micro robot, one end of the driving optical fiber is fixedly connected with the macro robot, and the other end of the driving optical fiber penetrates into and out of an inner cavity of the macro robot to be connected with the micro robot; the macro robot achieves deflection motion under mechanical pulling of the driving optical fiber, and the micro robot achieves axial contraction under laser excitation provided by the driving optical fiber. The driving optical fiber is adopted as a driving wire of the macro robot, deflection of the macro robot can be achieved, meanwhile, the driving optical fiber serves as a light guide structure, an excitation source of light is provided for the micro robot, and therefore the height and angle of the micro robot can be adjusted, cross-scale macro-micro motion is achieved, and a high-precision task from the macro scale to the micro scale is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a macro-micro driven fiber-micro continuum robot and a manufacturing method thereof. Background Art

[0002] As a unique type of robot, continuum robots have attracted widespread attention. Compared with traditional rigid robots, continuum robots have a soft structure that allows them to bend, curl and stretch to adapt to different working environments and tasks; at the same time, continuum robots have multiple degrees of freedom and can flexibly deform in three-dimensional space, thereby achieving more complex operations and actions; due to the flexibility of continuum robots, they can perform operations in small or complex spaces and can adapt to working environments of different shapes and surfaces, such as medical surgery, rescue search, and aircraft engine maintenance, etc., and have a wide range of application potential. Intracavitary and intracavitary interventions through the body's natural orifices are an emerging trend in medicine, further supporting the future of early intervention and precision surgery. This has inspired the development of small continuum robots that can navigate freely in narrow and tortuous environments.

[0003] The existing patent document with publication number CN110402096B discloses a mobile robotic device that can drive itself forward and backward to anchor and manipulate itself when located in a tubular structure (200) (for example, a human colon or any structure including two opposing walls (202, 204)). In this regard, the device is made of two or three segments (102, 104, 106) covered in an elastic material and driven by an internal actuation mechanism. All of these segments (102, 104, 106) have a concertina structure that enables shortening and elongation movements. In addition to length contraction and extension, at least one of the end segments (102, 106) can be bent away from the longitudinal axis at a certain angle so that it becomes wedged or stuck between the walls (202, 204) of the tubular structure (200). That is, the end segments (102, 106) can perform both bending movements and contraction and extension movements. The device (1) is moved by alternately clamping the segments (102, 104, 106) between the walls (202, 204) of a tubular structure (200) and then contracting or extending the segments (102, 104, 106) to slowly move the device (1) forward through a more efficient maneuver.

[0004] The trade-off between large-scale motion and high precision and the accompanying actuation crosstalk poses a significant challenge. Crosstalk between macro- and micro-motion is a fundamental challenge for both macro- and micro-motion. Conventional multi-segment serial robots exhibit significant mutual coupling between adjacent segments, and neither tendon-driven robots nor fluid / pneumatic-driven robots are suitable for high-precision tasks. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a macro-micro driven fiber-micro continuum robot and a method for manufacturing the same.

[0006] A macro-micro driven fiber-micro continuum robot provided by the present invention comprises a macro robot, a driving optical fiber and a micro robot, wherein one end of the driving optical fiber is fixedly connected to the macro robot, and the other end of the driving optical fiber penetrates into and out of the internal cavity of the macro robot to connect to the micro robot;

[0007] The macro robot realizes deflection motion under the mechanical pulling of the driving optical fiber, and the micro robot realizes axial contraction under the laser excitation provided by the driving optical fiber.

[0008] Preferably, the macro robot comprises an outer supporting structure and a multi-lumen tube, wherein the multi-lumen tube is distributed inside the outer supporting structure and comprises a plurality of internal lumens.

[0009] Preferably, the outer support structure comprises a notched flexible skeleton.

[0010] Preferably, the multi-lumen tube comprises a heat-drawn multi-lumen soft fiber.

[0011] Preferably, the microrobot comprises a plurality of light driving units, and the plurality of light driving units are distributed in a circumference;

[0012] The number of the optical drive units, the number of the internal cavities of the macro robot and the number of the driving optical fibers are the same. Any driving optical fiber penetrates into the internal cavity of any macro robot and passes out to connect to any optical drive unit.

[0013] Preferably, the optical driving unit comprises a liquid crystal elastomer, the liquid crystal elastomer comprises a hollow liquid crystal elastic fiber, and one end of the driving optical fiber connected to the micro-robot is arranged in the hollow liquid crystal elastic fiber.

[0014] Preferably, the diameter of the hollow liquid crystal elastic fiber is comprised between 300 microns and 400 microns;

[0015] The interior of the hollow liquid crystal elastic fiber is filled with transparent low modulus silica gel.

[0016] Preferably, the micro robot further comprises an upper mounting block and a lower mounting block, the upper mounting block and the lower mounting block are connected via an optical drive unit, and the lower mounting block is connected to the macro robot.

[0017] Preferably, the driving optical fiber comprises a multimode optical fiber.

[0018] The present invention provides a method for manufacturing a macro-micro driven fiber-micro continuum robot, comprising the following steps:

[0019] The production of the macro robot includes the hot drawing of the multi-lumen tube and the production of the external support structure. The multi-lumen tube is drawn into a multi-lumen soft fiber by using the hot drawing technology, and the external support structure is molded into a notched flexible skeleton by using the femtosecond laser cutting technology, and the multi-lumen soft fiber is arranged in the external support structure;

[0020] Fabrication of the microrobot, including preparation of hollow liquid crystal elastic fibers, generation of a first network of liquid crystal elastic fibers by thiol-Michael addition reaction, application of mechanical stress to the liquid crystal elastic fibers to orient the mesogen molecules and define the nematic length, cross-linking under ultraviolet irradiation to form a second network of liquid crystal elastic fibers, insertion of a driving optical fiber into each hollow liquid crystal elastic fiber, and provision of a built-in stimulus;

[0021] The driving optical fiber is inserted into the multi-cavity soft fiber of the macro robot to connect the macro robot and the micro robot.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention uses a driving optical fiber as the driving wire of the macro robot to achieve the deflection of the macro robot. At the same time, it also serves as a light-guiding structure to provide a light excitation source for the micro robot, thereby adjusting the height and angle of the micro robot and achieving cross-scale macro-micro motion, thereby realizing high-precision tasks from macro scale to micro scale.

[0024] 2. The present invention uses a driving optical fiber to connect the macro robot and the micro robot. The micro robot and the macro robot are integrated together. The pulling / releasing of the optical fiber and the light transmission of the laser can be performed simultaneously, and the macro and micro operations can be decoupled for intervention and operation.

[0025] 3. The present invention configures a macro robot using a multi-cavity soft fiber and a micro robot using an LCE fiber, drives the optical fiber to penetrate into the multi-cavity soft fiber and out, and then penetrates into the LCE fiber, thereby forming a submillimeter-level optical fiber robot, and combining the decoupled macro and micro motions, thereby achieving precise cross-scale motion from a few millimeters to tens of microns, further realizing research in animals, and achieving the positioning accuracy of precise microsurgery in intracavitary or intracavitary interventions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 A schematic diagram of the three-dimensional structure of the continuum robot mainly embodies the present invention;

[0028] Figure 2 A schematic diagram of the three-dimensional structure of the continuum robot mainly embodies the present invention;

[0029] Figure 3 A schematic diagram of the three-dimensional structure of the continuum robot mainly embodies the present invention;

[0030] Figure 4 A schematic diagram mainly showing the three-dimensional structure of the micro robot of the present invention;

[0031] Figure 5 The schematic diagram mainly embodies the three-dimensional structure of the micro robot of the present invention.

[0032] As shown in the figure:

[0033] Upper mounting block 1

[0034] Optical drive unit 2

[0035] Lower mounting block 3

[0036] Multi-lumen tube 4

[0037] External support structure 5

[0038] Drive fiber 6 DETAILED DESCRIPTION

[0039] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0040] like Figure 1 and Figure 2 As shown, a macro-micro driven fiber-micro continuum robot provided by the present invention includes a macro robot, a driving optical fiber 6 and a micro robot, one end of the driving optical fiber 6 is fixedly connected to the macro robot, and the other end of the driving optical fiber 6 penetrates into and out of the internal cavity of the macro robot to connect with the micro robot. The macro robot realizes deflection motion under the mechanical pulling of the driving optical fiber 6, and the micro robot realizes axial contraction under the laser excitation provided by the driving optical fiber 6.

[0041] The driving optical fiber 6 runs through the internal cavity of the macro robot and is fixed to the macro robot at the far end. After the driving optical fiber 6 passes through the macro robot, the exposed part is inserted into the micro robot. The driving optical fiber 6 serves as the driving wire of the macro robot. The driving optical fiber 6 is mechanically stretched to achieve the deflection of the macro robot. At the same time, the driving optical fiber 6 also serves as a light-guiding structure to provide a light excitation source. The laser is injected into the micro robot through the driving optical fiber 6. The micro robot achieves axial contraction under the excitation of the laser, and the end of the micro robot produces corresponding movement, so that the height and angle of the micro robot can be adjusted. The micro robot and the macro robot are integrated together, and the pulling / releasing of the optical fiber and the light transmission of the laser can be performed simultaneously to achieve cross-scale macro-micro movement, thereby achieving high-precision tasks from macro scale to micro scale.

[0042] Specifically, Figure 3 As shown, the macro robot includes an outer support structure 5 and a multi-lumen tube 4, the multi-lumen tube 4 is distributed in the outer support structure 5, and the multi-lumen tube 4 includes a plurality of internal cavities. The multi-lumen tube 4 includes a hot-drawn multi-lumen soft fiber, preferably a hot-drawn multi-lumen tube 4, so that a slender fiber with multiple cavities can be easily manufactured. For example, a three-lumen thermoplastic SEBS tube can be hot-drawn into a required three-lumen continuous fiber as the main body of the macro robot and provide a cavity for the drive optical fiber 6. The outer support structure 5 includes a notched flexible skeleton. In order to enhance the rigidity of the macro robot, a polyimide tube with an outer diameter of 1 mm and a wall thickness of 0.03 mm is molded into a notched flexible skeleton to support the SEBS matrix using a femtosecond laser. In assembly, multiple drive optical fibers 6 are connected to the micro robot and then pass through the internal cavity of the macro robot. Each drive optical fiber 6 is connected to the distal end of the macro robot. By mechanically adjusting the relative lengths of the multiple drive optical fibers 6, the macro robot can be controlled to achieve the deflection movement of the macro robot. Macro robots are mainly operated in open loop or teleoperation mode, but can also be controlled in closed loop mode by using cameras to identify special points.

[0043] Specifically, Figure 4 and Figure 5As shown, the microrobot includes a plurality of optical drive units 2, and the plurality of optical drive units 2 are distributed in a circumference; the number of optical drive units 2, the number of internal cavities of the macrorobot, and the number of driving optical fibers 6 are the same, and any driving optical fiber 6 penetrates into the internal cavity of any macrorobot and penetrates out to connect any optical drive unit 2. Wherein the optical drive unit 2 is a light response unit, and the light response material can realize axial contraction under the excitation of the laser. After the driving optical fiber 6 passes through the macrorobot, the exposed part is inserted into the optical response unit of the microrobot. When the laser is injected into the optical response unit through the driving optical fiber 6, the optical response unit can realize axial contraction, so that the end of the microrobot produces corresponding movement. The optical drive unit 2 includes a liquid crystal elastomer, and the liquid crystal elastomer includes a hollow liquid crystal elastic fiber. One end of the driving optical fiber 6 connected to the microrobot is arranged in the hollow liquid crystal elastic fiber. The optical drive unit 2 preferably has a liquid crystal elastomer material with a wavelength response of 488nm, and its absorption response center wavelength is 488nm, so as to realize the transition from the anisotropic state to the isotropic state and realize axial contraction. The diameter of the hollow liquid crystal elastic fiber ranges from 300 microns to 400 microns. The interior of the hollow liquid crystal elastic fiber is filled with transparent low-modulus silica gel, which is conducive to driving the optical fiber to drive the deflection movement of the macro robot.

[0044] More specifically, the microrobot also includes an upper mounting block 1 and a lower mounting block 3, the upper mounting block 1 and the lower mounting block 3 are connected through an optical drive unit 2, and the lower mounting block 3 is connected to the macro robot. Taking three optical drive units 2 as an example, the microrobot is composed of three liquid crystal elastic (LCE) fibers as drivable linear units. The microrobot is composed of three optical drive units 2 to form a micro parallel robot. LCE optical fibers (length 1.0-1.6 mm, outer diameter about 300 μm) are arranged in a 120° interval ring, and the two ends of each LCE optical fiber are respectively fixed on the upper mounting block 1 and the lower mounting block 3. The contraction of these LCE fibers promotes the three-degree-of-freedom motion of the upper mounting block 1. In order to achieve precise motion control, a kinematic model of the microactuator is developed for motion simulation and control. The constant curvature model is used for inverse kinematics modeling, and the mapping relationship between the task space and the actuator space is established, and the motion of the microrobot is guided by open loop or teleoperation.

[0045] Specifically, the driving optical fiber 6 includes a multimode optical fiber, and the driving optical fiber 6 includes optical fibers of various forms and sizes, preferably a universal 125 / 62.5 μm multimode optical fiber, to provide a channel for laser transmission. The macro robot can reach the target space through a tortuous environment. In order to reduce the crosstalk associated with the remote micro robot and reduce the overall size of the fiber robot, the driving optical fiber 6 of the micro robot is used as the driving wire of the macro robot.

[0046] Neither tendon-driven robots nor fluid / pneumatic-driven robots are suitable for high-precision tasks. Unlike them, the light transmitted to the distal segment through the optical fiber will not interfere with the preceding segment. Based on this principle, the robot designed by the present invention can achieve macro-micro decoupled motion. Once the microrobot and the macrorobot are integrated together, the pulling / releasing of the optical fiber and the light transmission of the laser can be performed simultaneously, thereby achieving high-precision tasks from the macroscale to the microscale. A submillimeter-scale fiber microrobot (~1 mm) proposed by the present invention can decouple macro-micro operations for intervention and operation. The driving optical fiber 6 can be used as a mechanical tendon to drive the macro-continuum robot, and can also be used as an optical waveguide. By transmitting light to drive a micro-parallel robot based on liquid crystal elastomer (LCE), the decoupled macro and micro movements are combined to achieve precise cross-scale motion from a few millimeters to tens of microns. It can be applied in in vivo research on animals to achieve the positioning accuracy of precise microsurgery in animal cavities or intracavitary interventions.

[0047] The present invention provides a method for manufacturing a macro-micro driven fiber-micro continuum robot, comprising the following steps:

[0048] The production of the macro robot includes the hot drawing of the multi-lumen tube 4 and the production of the outer support structure 5. The multi-lumen tube 4 is drawn into a multi-lumen soft fiber by using the hot wire drawing technology, and the outer support structure 5 is molded into a notched flexible skeleton by using the femtosecond laser cutting technology, and the multi-lumen soft fiber is arranged in the outer support structure 5;

[0049] Fabrication of the microrobot, including preparation of hollow liquid crystal elastic fibers, generation of a first network of liquid crystal elastic fibers by thiol-Michael addition reaction, application of mechanical stress to the liquid crystal elastic fibers to orient the mesogen molecules and define the nematic length, cross-linking under ultraviolet irradiation to form a second network of liquid crystal elastic fibers, insertion of a driving optical fiber 6 into each hollow liquid crystal elastic fiber, and provision of built-in stimulation;

[0050] The driving optical fiber 6 is inserted into the multi-cavity soft fiber of the macro robot to connect the macro robot and the micro robot.

[0051] Specifically, the macrorobot manufacturing process uses hot wire drawing technology and femtosecond laser cutting technology. First, a hot-drawn multi-cavity soft fiber is prepared to provide a channel for the driving optical fiber 6. Unlike additive manufacturing and subtractive manufacturing, hot wire drawing technology (also known as isomaterial manufacturing technology) can transform centimeter-scale preforms into long and thin fibers of millimeter or micrometer scales while retaining the cross-sectional structure. The hot drawing process requires adjustment of heat, feed rate, and drawing speed to obtain a suitable viscous flow of the material. Therefore, before the drawing step, the rheological properties of SEBS at different temperatures, shear strains, and angular frequencies were studied. From the temperature scan from 20°C to 200°C, it can be seen that with the increase of temperature, the material changes from solid to liquid. Below the transition temperature of about 136°C, the storage modulus G′ of the material is significantly higher than the loss modulus G″, and the material exhibits solid properties. Above the transition temperature, the loss modulus G″ is greater than the storage modulus G′, and the material exhibits fluid properties. Therefore, very high temperatures should be avoided during the drawing process because the fluid properties will cause the preform to shrink along the cross-sectional structure. From the logarithmic plots of storage modulus and loss modulus versus angular frequency at 145°C, 150°C, and 200°C, it can be seen that angular frequency has a significant effect on the viscous flow state. Shear strain experiments at 145°C show that the loss modulus is still greater than the storage modulus, showing residual viscous flow. The complex viscosity decreases with increasing temperature. These rheological experiments can be used as a reference for the hot stretching process. The preform is then hot stretched into fibers at a ratio of about 30 to obtain fibers with an outer diameter of about 1 mm.

[0052] In order to enhance the rigidity of the macrorobot, a polyimide tube with an outer diameter of 1 mm and a wall thickness of 0.03 mm was shaped into a notched flexible skeleton to support the SEBS matrix using femtosecond laser cutting technology. During assembly, multiple drive optical fibers 6 were connected to the LCE optical fiber and passed through the internal cavity of the macrorobot, and each drive optical fiber 6 was connected to the distal end of the macrorobot. The macrorobot can be controlled by mechanically adjusting the relative lengths of the multiple optical fibers.

[0053] Driving mechanism of the microrobot optical drive unit 2LCE:

[0054] LCE is a cross-linked liquid crystal polymer network that responds to external stimuli. The strain generated by LCE can induce large deformations in a given composite structure. These cross-linked liquid crystal polymers combine the anisotropic properties of liquid crystals with the elasticity of the polymer network. In fact, the conformation of the polymer backbone is directly related to the orientation of the liquid crystal mesogens. By changing the orientation of the liquid crystal mesogens, a macroscopic isotropic phase can be induced from the anisotropic nematic phase. In addition, the photosensitive group can mechanically destroy the order of the liquid crystal mesogens through a light-induced reversible photochemical cis-trans isomerization reaction with a central absorption wavelength of about 488 nm, and molecular isomerization occurs under irradiation of this wavelength. Therefore, the light-induced LCE actuation mechanism is achieved by regulating the molecular arrangement in the liquid crystal polymer network. In order to produce controllable and reliable actuation, LCE fibers with built-in light stimulation were designed. After placing light-conducting fibers into the hollow LCE fibers, the light emitted by these light-conducting fibers rearranged the mesogen molecules in the LCE fibers, causing the LCE to shrink along the axial direction. Controlling the intensity of the emitted light enables programmable shrinkage.

[0055] Specifically, the active LCE fibers were prepared using a two-step reaction method. The first step was to generate multi-domain LCE through a thiol-Michael addition reaction, and the second step was to fix the domain structure. In the first step, after being placed at room temperature for 24 hours, the first network of hollow LCE fibers was formed by placing them in an oven at 80°C for another 24 hours. In the second step, mechanical stress was applied to the LCE fibers to orient the mesogen molecules and define the nematic length. Subsequently, cross-linking was performed under ultraviolet irradiation to form a second network. Optical fibers were then inserted into each hollow LCE fiber to provide built-in stimulation. The single-domain / multi-domain state can be observed using polarized optical microscopy by exploiting the birefringence effect of liquid crystals, which affects the refraction angle of light, and controllable and reliable shrinkage can be achieved once the LCE main chain molecules are controlled through order-disorder transition.

[0056] LCE fibers can absorb light energy from optical fibers to produce large strains. Its driving performance depends on strain rate, input-output relationship, driving performance, response time, hysteresis and repeatability. The present invention conducts a series of characteristic tests to optimize its driving performance for precise robotic manipulation. First, the driving performance was studied by changing the stretch ratio related to mechanical properties during the second crosslinking process. The stretch ratio in the second crosslinking process is related to mechanical properties when achieving large strains of relatively small-sized fibers. Therefore, in the second crosslinking process, they are preferably stretched to 5 times the original length, and then light stimulation is applied to these fibers, and the length changes with light intensity are presented. The contraction length of the LCE fiber increases monotonically with the increase of light intensity and stretch ratio. The contraction displacement of the LCE fiber at different power input intensities was measured. The power intensity was cyclically scanned from zero to the maximum value, and the tip displacement of the LCE fiber was nearly linearly related to the input power duty cycle. No obvious hysteresis was observed in the five-cycle test. The drive cycle measurement shows that the LCE fiber reaches 80% of the total displacement in about 2 seconds after responding to the light signal and reaches equilibrium in about 6 seconds. In the reproducible cycle test of LCE fibers, no obvious fatigue phenomenon was observed after 300 cycles.

[0057] In addition, each controlled driving optical fiber 6 is connected to a light source through a switch to achieve on / off control of the optical path. A periodic switching signal (pulse width modulation signal) is then generated through the switch, and its duty cycle is variable to affect the duration and interval of the output illumination. Finally, the output illumination determines the contraction strain rate of the LCE fiber, which is used to control the continuous motion of the LCE-based micro-actuator.

[0058] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A macro-micro driven fiber-micro continuum robot, characterized in that: It comprises a macro robot, a driving optical fiber (6) and a micro robot, wherein one end of the driving optical fiber (6) is fixedly connected to the macro robot, and the other end of the driving optical fiber (6) penetrates into and out of the internal cavity of the macro robot to connect with the micro robot; The macro robot realizes deflection movement under the mechanical pulling of the driving optical fiber (6), and the micro robot realizes axial contraction under the optical excitation provided by the driving optical fiber (6).

2. The macro-micro driven fiber-micro continuum robot according to claim 1, characterized in that: The macro robot comprises an external support structure (5) and a multi-lumen tube (4), wherein the multi-lumen tube (4) is distributed inside the external support structure (5), and the multi-lumen tube (4) comprises a plurality of internal cavities.

3. The macro-micro driven fiber-micro continuum robot as claimed in claim 2, characterized in that: The outer support structure (5) comprises a notched flexible skeleton.

4. The macro-micro driven fiber-micro continuum robot as claimed in claim 2, characterized in that: The multi-lumen tube (4) comprises hot-drawn multi-lumen soft fibers.

5. The macro-micro driven fiber-micro continuum robot as claimed in claim 1, characterized in that: The microrobot comprises a plurality of light drive units (2), wherein the plurality of light drive units (2) are distributed in a circular pattern; The number of the optical drive units (2), the number of the internal cavities of the macro robot, and the number of the driving optical fibers (6) are the same, and any driving optical fiber (6) penetrates into the internal cavity of any macro robot and passes out to connect to any optical drive unit (2).

6. The macro-micro driven fiber-micro continuum robot as claimed in claim 5, characterized in that: The optical drive unit (2) comprises a liquid crystal elastomer, the liquid crystal elastomer comprises a hollow liquid crystal elastic fiber, and one end of a drive optical fiber (6) connected to the micro-robot is arranged in the hollow liquid crystal elastic fiber.

7. The macro-micro driven fiber-micro continuum robot as claimed in claim 6, characterized in that: The diameter of the hollow liquid crystal elastic fiber is comprised between 300 microns and 400 microns; The interior of the hollow liquid crystal elastic fiber is filled with transparent low modulus silica gel.

8. The macro-micro driven fiber-micro continuum robot as claimed in claim 5, characterized in that: The micro robot further comprises an upper mounting block (1) and a lower mounting block (3); the upper mounting block (1) and the lower mounting block (3) are connected via an optical drive unit (2); and the lower mounting block (3) is connected to the macro robot.

9. The macro-micro driven fiber-micro continuum robot as claimed in claim 1, characterized in that: The driving optical fiber (6) comprises a multimode optical fiber.

10. A method for manufacturing a macro-micro driven fiber-micro continuum robot according to any one of claims 1 to 9, characterized in that: The steps include: The manufacture of the macro robot includes hot drawing of a multi-lumen tube (4) and manufacture of an external support structure (5), wherein the multi-lumen tube (4) is drawn into a multi-lumen soft fiber by using a hot drawing technique, the external support structure (5) is molded into a notched flexible skeleton by using a femtosecond laser cutting technique, and the multi-lumen soft fiber is arranged in the external support structure (5); The fabrication of a microrobot includes the preparation of hollow liquid crystal elastic fibers, generating a first network of liquid crystal elastic fibers by a thiol-Michael addition reaction, applying mechanical stress to the liquid crystal elastic fibers to orient the mesogen molecules and define the nematic length, cross-linking under ultraviolet irradiation to form a second network of liquid crystal elastic fibers, inserting a driving optical fiber (6) into each hollow liquid crystal elastic fiber, and providing a built-in stimulus; The driving optical fiber (6) is inserted into the multi-cavity soft fiber of the macro robot to connect the macro robot and the micro robot.

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