Bionic origami intestinal sampling robot and preparation method thereof

Abstract

The invention discloses a bionic origami intestinal sampling robot, and relates to the technical field of intestinal sampling robots, the bionic origami intestinal sampling robot comprises a support and a plurality of valve leaflets, the plurality of valve leaflets are circumferentially distributed along the support, one edge of each valve leaflet can move relative to the support, and the other edges of each valve leaflet are movably provided with closing lappets; all the valve leaflets and all the closed lappets are made of magnetic materials; each valve leaflet can turn over relative to the supporting bracket towards the same side of the supporting bracket under the action of an external magnetic field, so that each valve leaflet can be close to each other in the circumferential direction of the supporting bracket, and each closed lappet can turn over relative to the valve leaflet under the action of the external magnetic field, so that the adjacent closed lappets between the adjacent valve leaflets can be overlapped; and therefore, a sealed grabbing cavity is defined by the supporting bracket and the valve leaflets. According to the bionic origami intestinal sampling robot provided by the invention, a target object can be completely sealed and wrapped, and leakage of contents is effectively prevented. The invention further provides a preparation method of the bionic origami intestinal sampling robot.

Description

Technical Field

[0001] The invention relates to the technical field of intestinal sampling robots, and in particular to a bionic origami intestinal sampling robot and a preparation method thereof. Background Art

[0002] Currently in the medical field, in order to facilitate sampling of the patient's intestines, magnetic soft robots are usually used to grab and collect samples in the intestines. However, traditional magnetic soft robots, such as robots with cage-like multi-claws or starfish-like multi-legged structures, cannot achieve completely closed wrapping when grabbing intestinal tissue or contents due to gaps between the claws or leg structures, resulting in leakage of the grasped objects, affecting sampling efficiency and accuracy, and may cause contamination. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic origami intestinal sampling robot and a preparation method thereof, so as to solve the problems existing in the above-mentioned prior art, and to achieve completely closed packaging of the target object and effectively prevent leakage of the contents.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a bionic origami intestinal sampling robot, comprising a support support and a plurality of leaflets, wherein the plurality of leaflets are distributed circumferentially along the support support, an edge of each leaflet and the support support are movable relative to each other, and the remaining edges of each leaflet are movably provided with a closing flap; each leaflet and each closing flap are made of magnetic material; each leaflet can be flipped relative to the support support toward the same side of the support support under the action of an external magnetic field, so that each leaflet can approach each other in the circumferential direction of the support support, and each closing flap can be flipped relative to the leaflet under the action of an external magnetic field, so that adjacent closing flaps between adjacent leaflets can overlap, so that the support support and each leaflet form a sealed grasping cavity.

[0006] Preferably, a connecting support is provided between the supporting support and each leaflet edge in the circumferential direction, and both side ends of each connecting support are capable of relative movement with the supporting support and the leaflet edge.

[0007] Preferably, each of the connecting supports is made of magnetic material, and each of the connecting supports can be flipped relative to the supporting support toward the same side of the supporting support under the action of an external magnetic field, so that edges of multiple connecting supports are connected and closed in the circumferential direction of the supporting support.

[0008] Preferably, the support bracket and each of the leaflets are both arranged in a triangular shape, the connecting bracket and the leaflets are both arranged in three, and the three edges of the support bracket can move relatively with the three leaflets through the three connecting brackets.

[0009] Preferably, it also includes a flexible connection layer, which is connected to the same side of the support tray, each of the leaflets, each of the closing flaps and each of the connection trays.

[0010] Preferably, each of the leaflets, each of the closing flaps and each of the connecting brackets are all configured to be a magnetic soft composite material.

[0011] Preferably, the support bracket is made of flexible material.

[0012] The present invention also provides a method for preparing the above-mentioned bionic origami intestinal sampling robot, comprising the following steps:

[0013] Preparation: preparing the support bracket, each leaflet and each closing flap;

[0014] Magnetization: The support bracket, each of the leaflets and each of the closing flaps are magnetized so that the support bracket, each of the leaflets and each of the closing flaps have independent magnetization directions.

[0015] Preferably, a connecting support is provided between the supporting support and the edge of each leaflet in the circumferential direction; the connecting support is made of magnetic material;

[0016] The preparation step includes: preparing each of the connection trays;

[0017] In the magnetizing step: it also includes magnetizing each of the connecting supports so that the supporting supports, each of the leaflets, each of the connecting supports and each of the closing flaps have independent magnetization directions.

[0018] Preferably, the support bracket, each of the leaflets, each of the closing flaps and each of the connecting brackets are all connected to a flexible connecting layer on the same side; and the following steps are also included:

[0019] Assembly: The magnetized support bracket, each leaflet, each connection bracket and each closing flap are connected through the flexible connection layer.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The bionic origami intestinal sampling robot provided by the present invention is supported as a whole by providing a support support, and a plurality of leaflets are movably provided in the circumferential direction of the support support, and a closing flap is provided on the leaflets except for the edge that is relatively movable with the support support. Since the leaflets and each closing flap are both provided with a magnetic material, under the action of an external magnetic field, the plurality of leaflets are flipped relative to the support support so that the plurality of leaflets are close to each other and closed in the circumferential direction of the support support, and each closing flap is flipped relative to the leaflet under the action of the external magnetic field, similar to origami, so that adjacent closing flaps are overlapped to achieve surface-fitting sealing, so that a sealed grasping cavity can be formed, and the target object can be airtightly wrapped, effectively solving the problem of leakage of contents during the grasping process, significantly improving the sampling efficiency and accuracy, and avoiding contamination.

[0022] The preparation method of the bionic origami intestinal sampling robot provided by the present invention magnetizes the support tray, each leaflet and each closing flap so that the support tray, each leaflet and each closing flap have independent magnetization directions, can be independently flipped under the action of an external magnetic field, thereby realizing the formation of a sealed grasping cavity, and is convenient for controlling the external magnetic field so that the robot can achieve precise folding, unfolding, grasping and other actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the deployment of the bionic origami intestinal sampling robot provided in Example 1;

[0025] Figure 2 A schematic diagram of the coordination of a lower leaflet, a connecting support and a supporting support under the action of an external magnetic field provided in the first embodiment;

[0026] Figure 3 A schematic diagram of the flipping trend of the leaflets provided in Example 1;

[0027] Figure 4 A closed schematic diagram of the bionic origami intestinal sampling robot provided in Example 1.

[0028] In the figure: 1-supporting support; 2-petal; 3-closing flap; 4-connecting support; 5-flexible connecting layer. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide a bionic origami intestinal sampling robot and a preparation method thereof, so as to solve the problems existing in the above-mentioned prior art, and to achieve completely closed packaging of the target object and effectively prevent leakage of the contents.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Embodiment 1

[0033] This embodiment provides a bionic origami intestinal sampling robot, see Figure 1-Figure 4 , including a support support 1 and a plurality of leaflets 2, wherein the plurality of leaflets 2 are circumferentially distributed along the support support 1, an edge of each leaflet 2 and the support support 1 are movable relative to each other, and the remaining edges of each leaflet 2 are movably provided with a closing flap 3; each leaflet 2 and each closing flap 3 are made of magnetic material; each leaflet 2 can be flipped relative to the support support 1 toward the same side of the support support 1 under the action of an external magnetic field, so that each leaflet 2 can approach each other in the circumferential direction of the support support 1, and each closing flap 3 can be flipped relative to the leaflet 2 under the action of an external magnetic field, so that adjacent closing flaps 3 between adjacent leaflets 2 can overlap, so that the support support 1 and each leaflet 2 form a sealed grasping cavity.

[0034] A support tray 1 is provided for overall support, and a plurality of leaflets 2 are movably provided on the support tray 1 in a circumferential direction, and a closing flap 3 is provided on the edge of the leaflet 2 except for the edge movably connected to the support tray. Since the leaflets 2 and each closing flap 3 are made of magnetic material, under the action of an external magnetic field, the plurality of leaflets 2 are flipped relative to the support tray 1 so that the plurality of leaflets 2 are close to each other and closed in the circumferential direction of the support tray 1, and each closing flap 3 is flipped relative to the leaflet 2 under the action of the external magnetic field, similar to origami, so that adjacent closing flaps 3 are overlapped to achieve surface sealing, so that a sealed grasping cavity can be formed, and the target object can be sealed, which effectively solves the problem of leakage of contents during the grasping process, significantly improves the sampling efficiency and accuracy, and avoids contamination.

[0035] In the optional scheme of this embodiment, it is more preferred that a connecting support 4 is provided between the supporting support 1 and the edge of each leaflet 2 in the circumferential direction, and the two side ends of each connecting support 4 can move relative to the supporting support 1 and the edge of the leaflet 2 respectively; the relative movement between the supporting support 1 and the leaflet 2 is achieved through the connecting support 4, and the leaflet 2 can be supported during the closing process.

[0036] In the optional scheme of this embodiment, it is more preferred that each connecting support 4 is set to a magnetic material, and each connecting support 4 can be flipped relative to the supporting support 1 toward the same side of the supporting support 1 under the action of an external magnetic field, so that the edges of multiple connecting supports 4 are connected and closed in the circumferential direction of the supporting support 1; wherein the flipping directions of the connecting supports 4 and the leaflets 2 are the same, so that the connecting supports 4 can support the leaflets 2.

[0037] In the optional scheme of this embodiment, it is more preferred that the support support 1 and each leaflet 2 are set to be triangular, the connecting support 4 and the leaflet 2 are set to be three, and the three edges of the support support 1 can move relatively with the three leaflets 2 through the three connecting supports 4; the support support 1, each leaflet 2 and the connecting support 4 are enclosed to form a sealed grasping cavity close to a triangular pyramid; in the preparation process, it is necessary to control the size of each leaflet 2 so that the edges of each leaflet 2 can be close to or even connected after being flipped, and then the surface is sealed by the closing flap 3, wherein the adjacent edges of adjacent connecting supports 4 can be fitted and connected after being flipped; it should be noted that the shape and number of the support support 1 and the leaflet 2 can be determined according to needs, such as the support support 1 and the leaflet 2 can also be set to be rectangular, and correspondingly, the leaflet 2 and the connecting support 4 are set to be four.

[0038] In the optional scheme of this embodiment, it is more preferred that the bionic origami intestinal sampling robot provided by this embodiment also includes a flexible connection layer 5, and the flexible connection layer 5 is connected to the same side of the support support 1, each leaflet 2, each closing flap 3 and each connecting support 4, that is, the support support 1, each leaflet 2, each closing flap 3 and each connecting support 4 form a whole through the flexible connection layer 5, and there is a gap between the edges of the support support 1, each leaflet 2, each closing flap 3 and each connecting support 4, and the flexible connection layer 5 is equivalent to a movable hinge at each edge, so that the components can move relative to each other and achieve closure in a manner similar to origami, that is, a movable connection is achieved through the flexible connection layer 5, avoiding the direct connection method that may cause unsmooth flipping or inadequate closure. Specifically, the flexible connection layer 5 can be set to an adhesive, such as liquid non-cross-linking SE, general glue and optical glue.

[0039] In the optional scheme of this embodiment, it is more preferred that each leaflet 2, each closing flap 3 and each connecting support 4 are all set to a flexible magnetic material. Further, the supporting support 1 is set to a flexible material; by setting the entirety to a flexible material, it can adapt to the complex shape and movement of the intestine, and improve the adaptability to different grasping objects, and has good repeatability and scalability, and with the modular setting between the supporting support 1, each leaflet 2, each closing flap 3 and each connecting support 4, it can still maintain some functions even in the case of local damage.

[0040] Specifically, the support tray 1 is made of flexible PDMS, i.e., polydimethylsiloxane material; each leaflet 2, each closing flap 3 and each connecting tray 4 is made of conventional magnetic soft composite materials, such as polydimethylsiloxane and a curing agent mixed in a mass ratio of 15:1, and then the mixture is mixed with permanent magnetic material NdFeB (average diameter 5 μm) particles in a mass ratio of 1:2. Other magnetizable magnetic soft composite materials can also be used, in which the curing agent can be 184 silicone elastomer curing agent.

[0041] Embodiment 2

[0042] This embodiment provides a method for preparing the bionic origami intestinal sampling robot of embodiment 1, comprising the following steps:

[0043] Preparation: preparing a support bracket 1, each leaflet 2 and each closing flap 3;

[0044] Magnetization: The support bracket 1, each leaflet 2 and each closing flap 3 are magnetized so that the support bracket 1, each leaflet 2 and each closing flap 3 have independent magnetization directions.

[0045] Based on the structure of the bionic origami intestinal sampling robot provided in Example 1, the more detailed preparation steps are as follows:

[0046] Preparation: Polydimethylsiloxane and curing agent are mixed in a mass ratio of 15:1, and then the mixture is mixed with permanent magnetic material NdFeB (average diameter 5 μm) particles in a mass ratio of 1:2 to obtain a magnetic soft composite material. The mixing is performed manually, using a glass rod to stir continuously for 5 minutes, or using a planetary mixer, and the revolution speed, rotation speed and stirring duration are set to 640 rpm, 0 rpm and 180 s, respectively.

[0047] After mixing, a vacuum desiccator was used for 5 min to remove air bubbles.

[0048] The uncured magnetic soft composite material is poured onto a glass plate with a gasket and flattened using a scraper. During the flattening process, the two ends of the blade slide on the upper surface of the gasket to remove excess composite material. The flattening operation should be repeated several times until the surface is flat and smooth. Since the uncured composite material has a concave meniscus, the final thickness is less than the interval thickness. Finally, the film thickness is determined experimentally using a laser three-dimensional interferometer; then the uncured magnetic film is placed on a hot plate at 65°C for curing for 3 hours; then the cured magnetic film is cut using laser cutting to form a support tray 1, each leaflet 2, each connecting tray 4 and each closing flap 3, and has a high-quality edge.

[0049] Magnetization: Use tweezers under a microscope to peel the cut pattern from the substrate, and use the existing template-assisted magnetization programming method to define the three-dimensional direction of the magnetization curve of the microrobot support support 1, each leaflet 2, each connecting support 4 and each closing flap 3. After clamping with a clamp, magnetize in a 1.8T uniform magnetic field so that the support support 1, each leaflet 2, each connecting support 4 and each closing flap 3 have independent magnetization directions, which can form a sealed grasping cavity under the action of the external magnetic field.

[0050] Assembly: Use small hand tools (such as tweezers) to pick up the magnetized robot modules and embed them into the pre-made mold to complete the positioning and orientation, and assemble the modules together with adhesives (such as liquid non-cross-linking SE, general glue, and optical glue) to form a bionic origami intestinal sampling robot.

[0051] In this way, by magnetizing the support support 1, each leaflet 2, each closing flap 3 and the connecting support 4, the support support 1, each leaflet 2, each closing flap 3 and the connecting support 4 have independent magnetization directions, and can be independently flipped under the action of an external magnetic field to achieve the formation of a sealed grasping cavity, and it is convenient to control the external magnetic field so that the robot can achieve precise folding, unfolding, grasping and other actions.

[0052] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic origami intestinal sampling robot, characterized by: The invention comprises a support support (1) and a plurality of leaflets (2), wherein the plurality of leaflets (2) are distributed circumferentially around the support support (1), an edge of each leaflet (2) and the support support (1) are movable relative to each other, and the remaining edge of each leaflet (2) is movably provided with a closing flap (3); each leaflet (2) and each closing flap (3) are both made of magnetic material; each leaflet (2) can be flipped relative to the support support (1) toward the same side of the support support (1) under the action of an external magnetic field, so that each leaflet (2) can approach each other in the circumferential direction of the support support (1), and each closing flap (3) can be flipped relative to the leaflet (2) under the action of an external magnetic field, so that the adjacent closing flaps (3) between adjacent leaflets (2) can overlap, so that the support support (1) and each leaflet (2) form a sealed grasping cavity.

2. The bionic origami intestinal sampling robot according to claim 1, characterized in that: A connecting support (4) is provided between the supporting support (1) and the edge of each leaflet (2) in the circumferential direction, and both side ends of each connecting support (4) are respectively movable relative to the supporting support (1) and the edge of the leaflet (2).

3. The bionic origami intestinal sampling robot according to claim 2, characterized in that: Each of the connecting supports (4) is made of a magnetic material, and each of the connecting supports (4) can be flipped relative to the supporting support (1) toward the same side of the supporting support (1) under the action of an external magnetic field, so that the edges of a plurality of the connecting supports (4) are connected and closed in the circumferential direction of the supporting support (1).

4. The bionic origami intestinal sampling robot according to claim 3, characterized in that: The support bracket (1) and each of the leaflets (2) are both arranged in a triangular shape, the connecting bracket (4) and the leaflets (2) are both arranged in three numbers, and the three edges of the support bracket (1) are able to move relative to the three leaflets (2) through the three connecting brackets (4).

5. The bionic origami intestinal sampling robot according to claim 3, characterized in that: It also includes a flexible connection layer (5), and the flexible connection layer (5) is connected to the same side of the support bracket (1), each of the leaflets (2), each of the closing flaps (3) and each of the connection brackets (4).

6. The bionic origami intestinal sampling robot according to claim 3, characterized in that: Each of the leaflets (2), each of the closing flaps (3) and each of the connecting brackets (4) is configured as a magnetic soft composite material.

7. The bionic origami intestinal sampling robot according to claim 1, characterized in that: The support bracket (1) is made of a flexible material.

8. A method for preparing the bionic origami intestinal sampling robot according to any one of claims 1 to 7, characterized in that: The steps include: Preparation: preparing the support bracket (1), each leaflet (2) and each closing flap (3); Magnetization: The support bracket (1), each of the leaflets (2) and each of the closing flaps (3) are magnetized so that the support bracket (1), each of the leaflets (2) and each of the closing flaps (3) have independent magnetization directions.

9. The preparation method according to claim 8, characterized in that: A connecting support (4) is provided between the supporting support (1) and the edge of each leaflet (2) in the circumferential direction; the connecting support (4) is made of a magnetic material; The preparation step also includes preparing each of the connection trays (4); The step of magnetizing also includes magnetizing each of the connecting supports (4) so ​​that the supporting support (1), each of the leaflets (2), each of the connecting supports (4) and each of the closing flaps (3) have independent magnetization directions.

10. The preparation method according to claim 9, characterized in that: The support bracket (1), each of the leaflets (2), each of the closing flaps (3) and each of the connecting brackets (4) are all connected to a flexible connecting layer (5) on the same side; the method further comprises the following steps: Assembly: The magnetized support bracket (1), each leaflet (2), each connection bracket (4) and each closing flap (3) are connected via the flexible connection layer (5).

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